mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-26 18:53:44 +08:00
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Dom
|
d11bfc3de1 |
@@ -1,6 +0,0 @@
|
||||
github: firestar5683
|
||||
patreon: firestar4430
|
||||
custom:
|
||||
- "https://cash.app/$domkthompson"
|
||||
- "https://account.venmo.com/u/firestar4430"
|
||||
- "https://www.paypal.com/paypalme/firestar4430"
|
||||
+4
-51
@@ -1,5 +1,4 @@
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||||
import os
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import importlib
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import shutil
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import subprocess
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import sys
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@@ -129,41 +128,6 @@ elif arch == "aarch64" and AGNOS:
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arch = "larch64"
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assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
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# AGNOS 19.6 ships native dependencies as versioned Python packages. Link
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# Cap'n Proto statically from that managed package so release binaries don't
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# depend on the removed libcapnp-1.0.2.so system library.
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try:
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capnproto = importlib.import_module("capnproto")
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except ModuleNotFoundError:
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capnproto = None
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try:
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ffmpeg = importlib.import_module("ffmpeg")
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except ModuleNotFoundError:
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ffmpeg = None
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capnproto_include_dirs = [capnproto.INCLUDE_DIR] if capnproto is not None else []
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capnproto_lib_dirs = [capnproto.LIB_DIR] if capnproto is not None else []
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ffmpeg_include_dirs = [ffmpeg.INCLUDE_DIR] if ffmpeg is not None else []
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ffmpeg_lib_dirs = [ffmpeg.LIB_DIR] if ffmpeg is not None else []
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# Cross-builds install managed dependencies in /work/.venv-linux-arm64, but
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# comma devices expose the same packages from /usr/local/venv. Never embed the
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||||
# host/container mount path in release binaries.
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ffmpeg_runtime_lib_dirs = ffmpeg_lib_dirs
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if arch == "larch64" and ffmpeg is not None:
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ffmpeg_runtime_lib_dirs = [os.path.join("/usr/local/venv", os.path.relpath(ffmpeg.LIB_DIR, sys.prefix))]
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# The managed native-dependency packages keep their tools inside the package
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# instead of installing them into /usr/local/venv/bin. cereal invokes capnpc
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# directly while SConscript files are evaluated, so make the packaged tools
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# discoverable to both SCons actions and configure-time subprocesses.
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dependency_bin_dirs = [
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package.BIN_DIR for package in (capnproto, ffmpeg)
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if package is not None and os.path.isdir(package.BIN_DIR)
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]
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if dependency_bin_dirs:
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os.environ["PATH"] = os.pathsep.join([*dependency_bin_dirs, os.environ["PATH"]])
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|
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# Homebrew llvm can shadow Apple clang and break macOS SDK header resolution.
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# Use the system toolchain explicitly on macOS for reliable local builds.
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cc = '/usr/bin/clang' if arch == "Darwin" else 'clang'
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@@ -305,10 +269,7 @@ env = Environment(
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"-Wno-vla-cxx-extension",
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] + cflags + ccflags,
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|
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# Managed dependencies must precede the compatibility sysroot. The sysroot
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# can intentionally retain legacy libraries for C3 support, but new release
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# binaries must link against the versions shipped in the managed venv.
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CPPPATH=capnproto_include_dirs + ffmpeg_include_dirs + cpppath + [
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CPPPATH=cpppath + [
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"#",
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"#third_party/acados/include",
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"#third_party/acados/include/blasfeo/include",
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@@ -327,11 +288,11 @@ env = Environment(
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RANLIB=ranlib,
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LINKFLAGS=ldflags,
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RPATH=ffmpeg_runtime_lib_dirs + rpath,
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RPATH=rpath,
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CFLAGS=["-std=gnu11"] + cflags,
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CXXFLAGS=["-std=c++1z"] + cxxflags,
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LIBPATH=capnproto_lib_dirs + ffmpeg_lib_dirs + libpath + [
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LIBPATH=libpath + [
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"#msgq_repo",
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"#third_party",
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"#selfdrive/pandad",
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@@ -410,15 +371,7 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
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SConscript(['cereal/SConscript'])
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|
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Import('socketmaster', 'msgq')
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if capnproto is not None:
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messaging = [
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socketmaster,
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msgq,
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File(os.path.join(capnproto.LIB_DIR, "libcapnp.a")),
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File(os.path.join(capnproto.LIB_DIR, "libkj.a")),
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]
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else:
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messaging = [socketmaster, msgq, 'capnp', 'kj']
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messaging = [socketmaster, msgq, 'capnp', 'kj',]
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Export('messaging')
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+3
-11
@@ -1,5 +1,3 @@
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import subprocess
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Import('env', 'common', 'msgq')
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cereal_dir = Dir('.')
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@@ -7,15 +5,9 @@ gen_dir = Dir('gen')
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# Build cereal
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schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
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schema_outputs = env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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schema_files,
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f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
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# capnpc embeds an exact compiler-version guard in every generated C++ header.
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# Include the tool version in the dependency signature so SCons cannot reuse
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# generated headers from a cache populated by another AGNOS/toolchain version.
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capnp_compiler_version = subprocess.check_output(['capnpc', '--version'], encoding='utf-8').strip()
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env.Depends(schema_outputs, env.Value(capnp_compiler_version))
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env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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schema_files,
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f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
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cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
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@@ -98,7 +98,6 @@ struct StarPilotCarState @0xf35cc4560bbf6ec2 {
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teslaCCNotArmed @27 :Bool; # lateral engaged but DI_cruiseState != STANDBY/ENABLED
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accelHardCruise @28 :Bool; # current/releasing accel cruise button came from GM hard-press signal
|
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decelHardCruise @29 :Bool; # current/releasing decel cruise button came from GM hard-press signal
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pulseAndGlide @30 :Bool; # developer-only wheel-button pulse-and-glide mode is enabled
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}
|
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|
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struct StarPilotDeviceState @0xda96579883444c35 {
|
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@@ -220,7 +219,6 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
|
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disableThrottle @35 :Bool;
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trackingLead @36 :Bool;
|
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stopSignConfirmed @37 :Bool;
|
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pulseGlideCoasting @38 :Bool; # developer-only P&G phase for on-road status UI
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}
|
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|
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struct StarPilotRadarState @0xb86e6369214c01c8 {
|
||||
@@ -265,7 +263,6 @@ struct StarPilotSelfdriveState @0xf416ec09499d9d19 {
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alertSize @3 :AlertSize;
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alertType @4 :Text;
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alertSound @5 :Car.CarControl.HUDControl.AudibleAlert;
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vEgo @6 :Float32;
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enum AlertStatus {
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normal @0;
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+5
-38
@@ -472,10 +472,6 @@ struct CanData {
|
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struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
deviceType @45 :InitData.DeviceType;
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|
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# usb
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chestnutPresent @51 :Bool;
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usbState @52 :UsbState;
|
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|
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networkType @22 :NetworkType;
|
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networkInfo @31 :NetworkInfo;
|
||||
networkStrength @24 :NetworkStrength;
|
||||
@@ -507,8 +503,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
pmicTempC @39 :List(Float32);
|
||||
intakeTempC @46 :Float32;
|
||||
exhaustTempC @47 :Float32;
|
||||
gnssTempC @48 :Float32;
|
||||
bottomSocTempC @50 :Float32;
|
||||
caseTempC @48 :Float32;
|
||||
maxTempC @44 :Float32; # max of other temps, used to control fan
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
@@ -522,10 +517,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
}
|
||||
|
||||
enum ThermalStatus {
|
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ok @0;
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warmDEPRECATED @1;
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overheated @2;
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critical @3;
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green @0;
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yellow @1;
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red @2;
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danger @3;
|
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}
|
||||
|
||||
enum NetworkType {
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||||
@@ -741,28 +736,6 @@ struct PeripheralState {
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}
|
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}
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||||
|
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struct UsbState {
|
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devices @0 :List(Device);
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|
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struct Device {
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busnum @0 :UInt8;
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devnum @1 :UInt8;
|
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vendorId @2 :UInt16;
|
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productId @3 :UInt16;
|
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speedMbps @4 :UInt16;
|
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manufacturer @6 :Text;
|
||||
product @5 :Text;
|
||||
linkErrorCount @7 :UInt16;
|
||||
usb3Lane @8 :Usb3Lane;
|
||||
|
||||
enum Usb3Lane {
|
||||
unknown @0;
|
||||
a @1;
|
||||
b @2;
|
||||
}
|
||||
}
|
||||
}
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|
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struct ChestnutState {
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tempC @0 :Float32;
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memoryTempC @1 :Float32;
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||||
@@ -1327,11 +1300,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
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||||
solverExecutionTime @35 :Float32;
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||||
|
||||
leadTrajectoryX0 @40 :List(Float32);
|
||||
leadTrajectoryV0 @41 :List(Float32);
|
||||
leadTrajectoryX1 @42 :List(Float32);
|
||||
leadTrajectoryV1 @43 :List(Float32);
|
||||
|
||||
enum LongitudinalPlanSource {
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cruise @0;
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lead0 @1;
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||||
@@ -2757,7 +2725,6 @@ struct Event {
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userBookmark @93 :UserBookmark;
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bookmarkButton @148 :UserBookmark;
|
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audioFeedback @149 :AudioFeedback;
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visionSpeedLimitBookmark @153 :UserBookmark;
|
||||
|
||||
lateralManeuverPlan @150 :LateralManeuverPlan;
|
||||
# *********** debug ***********
|
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||||
Binary file not shown.
@@ -69,7 +69,6 @@ static std::map<std::string, service> services = {
|
||||
{ "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
|
||||
{ "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
|
||||
{ "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
|
||||
{ "visionSpeedLimitBookmark", {"visionSpeedLimitBookmark", false, 0.000000, 1, 256000}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
|
||||
@@ -86,7 +86,6 @@ _services: dict[str, tuple] = {
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
"visionSpeedLimitBookmark": (False, 0., 1),
|
||||
"roadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"driverEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
|
||||
+1
-1
@@ -2,7 +2,7 @@ from openpilot.common.params import Params
|
||||
|
||||
|
||||
def get_gps_location_service(params: Params) -> str:
|
||||
if params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
|
||||
if params.get_bool("UbloxAvailable"):
|
||||
return "gpsLocationExternal"
|
||||
else:
|
||||
return "gpsLocation"
|
||||
|
||||
Binary file not shown.
+2
-13
@@ -20,7 +20,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"CarBatteryCapacity", {PERSISTENT, INT}},
|
||||
{"CarGpsAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||
{"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsPersistent", {PERSISTENT, BYTES}},
|
||||
@@ -63,8 +62,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"GsmRoaming", {PERSISTENT, BOOL}},
|
||||
{"HardwareSerial", {PERSISTENT, STRING}},
|
||||
{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
|
||||
// Internal kill switch; the platform verification allowlist remains the hard safety gate.
|
||||
{"HondaBoschARadar", {PERSISTENT, BOOL, "1"}},
|
||||
{"HondaGasFactorParams", {PERSISTENT, FLOAT}},
|
||||
{"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
|
||||
{"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
|
||||
@@ -135,9 +132,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SentryModeCapture", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"SentryModeLastEvent", {PERSISTENT, JSON, "{}", "{}"}},
|
||||
{"SentryModeNtfyUrl", {PERSISTENT, STRING}},
|
||||
{"SentryModeSensitivity", {PERSISTENT, FLOAT, "0.04", "0.04", 0, SETTINGS_SIMPLE}},
|
||||
{"SentryModeStatus", {CLEAR_ON_MANAGER_START | DONT_LOG, JSON}},
|
||||
{"SentryModeWarningTime", {PERSISTENT, FLOAT, "1.0", "1.0", 0, SETTINGS_SIMPLE}},
|
||||
{"SentryModeWebhook", {PERSISTENT, STRING}},
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
|
||||
{"ShowDebugInfo", {PERSISTENT, BOOL}},
|
||||
@@ -191,7 +186,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
|
||||
{"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
|
||||
{"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
|
||||
{"AllowGpuModelDownloadWithoutGpu", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
|
||||
{"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
|
||||
{"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
|
||||
{"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
|
||||
@@ -340,7 +334,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ForceStops", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
|
||||
{"ForceStopDistanceOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
|
||||
{"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
||||
{"FordLKASButtonControlMigrated", {PERSISTENT, BOOL, "0", "0"}},
|
||||
{"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||
{"FordAngleBlend", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
|
||||
{"FordAngleHighSpeedDamping", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
|
||||
@@ -350,7 +343,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"FordCurvatureBlendHigh", {PERSISTENT, FLOAT, "0.4", "0.4", 2}},
|
||||
{"FordCurvatureBlendLow", {PERSISTENT, FLOAT, "0.4", "0.4", 2}},
|
||||
{"FordCurvatureLaneChangeFactor", {PERSISTENT, FLOAT, "0.85", "0.85", 2}},
|
||||
{"FordHandsFreeCluster", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"FordHumanTurnDetection", {PERSISTENT, BOOL, "1", "1", 2}},
|
||||
{"FordLateralMode", {PERSISTENT, INT, "1", "1", 2}},
|
||||
{"FLMActiveOverrides", {PERSISTENT, JSON, "{}", "{}", 2}},
|
||||
@@ -528,7 +520,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"PreviousSpeedLimit", {PERSISTENT, FLOAT, "0.0", "0.0"}},
|
||||
{"PromptDistractedVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
|
||||
{"PromptVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
|
||||
{"PulseGlideSpeedDelta", {PERSISTENT, FLOAT, "5.0", "5.0", 3}},
|
||||
{"QOLLateral", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
|
||||
{"QOLLongitudinal", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
|
||||
{"QOLVisuals", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
|
||||
@@ -554,6 +545,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||
{"RivianAngleControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
||||
{"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
|
||||
{"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
|
||||
@@ -622,8 +614,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"VisionSpeedLimitAutoBookmark", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"VisionSpeedLimitAutoPreserveSegment", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "1", "0", 0}},
|
||||
{"VisionSpeedLimitLowLimitFilter", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"VisionSpeedLimitLowLimitThreshold", {PERSISTENT, INT, "25", "25", 0}},
|
||||
{"VisionSpeedLimitTrainingCollector", {PERSISTENT, BOOL, "1", "1", 0}},
|
||||
{"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
|
||||
{"StandardFollowHigh", {PERSISTENT, FLOAT, "1.2", "1.2", 2}},
|
||||
@@ -684,7 +674,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"TuningLevel", {PERSISTENT, INT, "0", "0", 0}},
|
||||
{"TuningLevelConfirmed", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"TurnDesires", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"TurnSteeringLimitMuteSpeed", {PERSISTENT, INT, "0", "0", 0}},
|
||||
{"UnlockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
|
||||
{"Updated", {PERSISTENT, STRING, "0", "0"}},
|
||||
{"UpdateSpeedLimits", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
|
||||
@@ -698,7 +687,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"UserFavorites", {PERSISTENT, STRING, "", "", 1}},
|
||||
{"UseVienna", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
|
||||
{"VASMAnnotationConfig", {PERSISTENT, JSON, "{}", "{}", 2}},
|
||||
{"VASMConfidenceThreshold", {PERSISTENT, FLOAT, "0.94", "0.94", 2}},
|
||||
{"VASMConfidenceThreshold", {PERSISTENT, FLOAT, "0.85", "0.85", 2}},
|
||||
{"VASMEnabled", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||
{"VASMLeftActive", {CLEAR_ON_MANAGER_START, STRING, "0", "0", 2}},
|
||||
{"VASMLeftConfidence", {CLEAR_ON_MANAGER_START, STRING, "0.0", "0.0", 2}},
|
||||
|
||||
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+151
-296
@@ -4,183 +4,108 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 452 Supported Cars
|
||||
# 326 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ADX 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ADX 2025-26">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
|
||||
|Acura|Integra 2023-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura Integra 2023-26">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2014-16|Advance Package|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2014-16">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2017-19|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2017-19">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2020|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2020">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025|All except Type S|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX Hybrid 2017-19|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX Hybrid 2020|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2022-26">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2015-17|Advance Package|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2015-17">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2018-20|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2018-20">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2024-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2024-25">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q4 e-tron 2021-23">Buy Here</a></sub></details>|||
|
||||
|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q4 e-tron 2024-25">Buy Here</a></sub></details>|||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Buick|Baby Enclave 2020-23|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Baby Enclave 2020-23">Buy Here</a></sub></details>|||
|
||||
|Buick[<sup>3</sup>](#footnotes)|LaCrosse 2017-19|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse 2017-19">Buy Here</a></sub></details>|||
|
||||
|Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse ASCM Harness 2017-19">Buy Here</a></sub></details>|||
|
||||
|Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|Stock|3 mph|27 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse US ASCM Harness 2019">Buy Here</a></sub></details>|||
|
||||
|Buick[<sup>3</sup>](#footnotes)|Regal Essence 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Regal Essence 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac ATS Premium Performance 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac CT6 No-ACC 2016-20">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade 2017|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade 2017">Buy Here</a></sub></details>|||
|
||||
|Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ASCM Harness 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2016">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2019">Buy Here</a></sub></details>|||
|
||||
|Cadillac|Escalade ESV Platinum ASCM Harness 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV Platinum ASCM Harness 2019">Buy Here</a></sub></details>|||
|
||||
|Cadillac|XT4 2023|Driver Assist Package|Stock|0 mph|30 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 2023">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|30 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 No-ACC 2023">Buy Here</a></sub></details>|||
|
||||
|Cadillac|XT5 2022|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 2022">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 No-ACC 2022">Buy Here</a></sub></details>|||
|
||||
|Cadillac|XT6 2020|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT6 2020">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Blazer 2019-25|Driver Assist Package|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Blazer 2019-25">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV & EUV ACC 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV & EUV ACC w Pedal 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC w Pedal 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV & EUV No-ACC 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV No-ACC 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV No-ACC 2018-21|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Equinox No-ACC 2019-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox No-ACC 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu 2019|SDGM Harness (Optional SASCM)|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu 2019">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu ASCM Harness 2017-19">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Hybrid No-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu No-ACC 2023">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Malibu Premier 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Premier 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier 2016-20">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier No-ACC 2016-20">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer No-ACC 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Traverse 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet TRAX 2024-25">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Volt 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2019">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt ASCM Harness 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|openpilot available[<sup>1</sup>](#footnotes)|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt Camera Harness 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Edge 2022|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Edge 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Lightning 2022-25">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mondeo 2014-22">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Transit 2025|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Transit 2025">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2017">Buy Here</a></sub></details>|||
|
||||
|Genesis|G80 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2018-19">Buy Here</a></sub></details>|||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2018-19">Buy Here</a></sub></details>|||
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G90 2017-20">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV60 (Advanced Trim) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV60 (Performance Trim) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (3.5T Sport Prestige Trim, with HDA II & LFA2) 2026|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Sport Prestige Trim, with HDA II & LFA2) 2026">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified 2026">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 Coupe (with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Acadia 2018|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia ASCM Harness 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
|
||||
|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon 2019-20">Buy Here</a></sub></details>|||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon No-ACC 2019-20">Buy Here</a></sub></details>|||
|
||||
|Holden[<sup>3</sup>](#footnotes)|Astra 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Holden Astra 2017">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2016-17|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2016-17">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2017|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2017">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|All|openpilot|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Clarity 2018-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit (Taiwan) 2021|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit (Taiwan) 2024-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2026|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Prelude 2026|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Prelude 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
@@ -190,20 +115,14 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra Hybrid 2024-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2024-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 Hybrid 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 N (with HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai S connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 N (with HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 PE (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 9 (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
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|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
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@@ -211,62 +130,39 @@ A supported vehicle is one that just works when you install a comma device. All
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|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (without HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid (without HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
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|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (with HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Hybrid (with HDA II & LFA2) 2024-25|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Hybrid (without HDA II, LFA2) 2025-26|Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (without HDA II, LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Sonata (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid (with HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA I) 2025|Highway Driving Assist I|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA I) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV9 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV9 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|K4 (with HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K4 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
@@ -290,20 +186,13 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage (without HDA II) 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage (without HDA II) 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Kia|XCeed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia XCeed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -326,54 +215,48 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-25|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-25">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Leaf Instrument Cluster 2018-25|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf Instrument Cluster 2018-25">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1S 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2023-25|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023-25">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2025|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2022-24|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru C connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2022-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2025|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2023-24|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Enyaq 2021-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Enyaq 2021-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Enyaq 2024-25[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Enyaq 2024-25">Buy Here</a></sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-26[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-26">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2025|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2022-24|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru C connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2022-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-26[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-26">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
||||
@@ -386,8 +269,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -419,90 +302,62 @@ A supported vehicle is one that just works when you install a comma device. All
|
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|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.3 2020-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.3 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.5 2022-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
## StarPilot Community Cars
|
||||
|
||||
These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
|
||||
|
||||
# 16 Community Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Bayon Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos Non-SCC 2023-24">Buy Here</a></sub></details>|||
|
||||
|Tesla|Model S (Pre-AP) 2012-14|All|Stock|0 mph|0 mph|[](##)|[](##)|None|||
|
||||
|Toyota|Matrix Retrofit 2005|Custom retrofit|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Matrix Retrofit 2005">Buy Here</a></sub></details>|||
|
||||
|Toyota|Prius 2016-20 with TSS2 EPS retrofit|Custom retrofit|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016-20 with TSS2 EPS retrofit">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Prime 2021-23|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Prime 2021-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Sienna 2021-25|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2021-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Yaris (Non-US only) 2020, 2023|All|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Yaris (Non-US only) 2020, 2023">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
|
||||
<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
# Don't see your car here?
|
||||
|
||||
@@ -545,4 +400,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
||||
* Toyota Camry 2025+
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
* Subaru Solterra 2023+
|
||||
|
||||
+94
-3
@@ -147,10 +147,101 @@ function launch {
|
||||
while true; do sleep 1; done
|
||||
fi
|
||||
|
||||
function prebuilt_runtime_compatible {
|
||||
python3 - <<'PY'
|
||||
import importlib
|
||||
import os
|
||||
from pathlib import Path
|
||||
import sys
|
||||
import time
|
||||
|
||||
from openpilot.common.file_chunker import get_existing_chunks
|
||||
|
||||
start = time.monotonic()
|
||||
last = start
|
||||
log_path = os.environ.get("SP_BOOT_TIMING_LOG")
|
||||
|
||||
def emit(line):
|
||||
print(line, flush=True)
|
||||
if log_path:
|
||||
try:
|
||||
with open(log_path, "a") as f:
|
||||
f.write(line + "\n")
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
def log_step(label):
|
||||
global last
|
||||
now = time.monotonic()
|
||||
emit(f"SP_BOOT_TIMING prebuilt_compat {label} +{now - last:.3f}s total={now - start:.3f}s")
|
||||
last = now
|
||||
|
||||
mods = [
|
||||
"openpilot.common.params_pyx",
|
||||
"msgq.ipc_pyx",
|
||||
"msgq.visionipc.visionipc_pyx",
|
||||
"openpilot.common.transformations.transformations",
|
||||
"openpilot.selfdrive.pandad.pandad_api_impl",
|
||||
"openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
|
||||
"openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
|
||||
]
|
||||
|
||||
for mod in mods:
|
||||
try:
|
||||
importlib.import_module(mod)
|
||||
except Exception as e:
|
||||
print(f"Prebuilt compatibility failure in {mod}: {e}", file=sys.stderr)
|
||||
raise
|
||||
log_step(f"import:{mod}")
|
||||
|
||||
repo_root = Path.cwd().parents[1]
|
||||
required_model_artifacts = [
|
||||
repo_root / "selfdrive/modeld/models/driving_tinygrad.pkl",
|
||||
repo_root / "selfdrive/modeld/models/dmonitoring_model_metadata.pkl",
|
||||
repo_root / "selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl",
|
||||
repo_root / "selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl",
|
||||
repo_root / "selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl",
|
||||
]
|
||||
required_files = [
|
||||
repo_root / "selfdrive/pandad/pandad_api_impl.so",
|
||||
repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
|
||||
repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so",
|
||||
repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
|
||||
repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so",
|
||||
repo_root / "opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc",
|
||||
]
|
||||
|
||||
for path in required_model_artifacts:
|
||||
try:
|
||||
artifact_paths = [Path(p) for p in get_existing_chunks(path)]
|
||||
except Exception as e:
|
||||
raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}") from e
|
||||
missing_chunks = [p for p in artifact_paths if not p.is_file()]
|
||||
if missing_chunks:
|
||||
missing = ", ".join(str(p) for p in missing_chunks)
|
||||
raise FileNotFoundError(f"Missing prebuilt runtime artifact chunks for {path}: {missing}")
|
||||
log_step("required_model_artifacts")
|
||||
|
||||
for path in required_files:
|
||||
if not path.is_file():
|
||||
raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}")
|
||||
log_step("required_files")
|
||||
PY
|
||||
}
|
||||
|
||||
USE_PREBUILT=1
|
||||
if [ -f /data/params/d/UsePrebuilt ]; then
|
||||
USE_PREBUILT=$(tr -d '\n' < /data/params/d/UsePrebuilt)
|
||||
fi
|
||||
|
||||
sp_launch_timing "prebuilt_decision_done"
|
||||
# Published trees carry this marker and must never compile on-device.
|
||||
# Developers can remove it explicitly when working from a source tree.
|
||||
if [ ! -f "$DIR/prebuilt" ]; then
|
||||
if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
|
||||
echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
|
||||
USE_PREBUILT=0
|
||||
fi
|
||||
sp_launch_timing "prebuilt_compat_done"
|
||||
|
||||
if [ "$USE_PREBUILT" != "1" ] || [ ! -f $DIR/prebuilt ]; then
|
||||
sp_launch_timing "build_start"
|
||||
./build.py
|
||||
sp_launch_timing "build_done"
|
||||
|
||||
+1
-1
@@ -21,7 +21,7 @@ fi
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="19.6.10"
|
||||
export AGNOS_VERSION="19.6.1"
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -1,6 +1,6 @@
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
# Support Information for 518 Known Cars
|
||||
# Support Information for 489 Known Cars
|
||||
|
||||
|Make|Model|Package|Support Level|
|
||||
|---|---|---|:---:|
|
||||
@@ -38,26 +38,16 @@
|
||||
|Audi|A5 2016-24|All|[Not compatible](#flexray)|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q5 2017-24|All|[Not compatible](#flexray)|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Buick|Baby Enclave 2020-23|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Buick|LaCrosse 2017-19|Driver Confidence Package 2|[Upstream](#upstream)|
|
||||
|Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Buick|Regal Essence 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade 2017|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade ESV Platinum ASCM Harness 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|Cadillac|XT4 2023|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Cadillac|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|XT5 2022|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Cadillac|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|XT6 2020|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Chevrolet|Blazer 2019-25|Driver Assist Package|[Upstream](#upstream)|
|
||||
@@ -72,17 +62,13 @@
|
||||
|Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Malibu Premier 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|
|
||||
|Chevrolet|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|[Upstream](#upstream)|
|
||||
|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|Chevrolet|TRAX 2024|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
@@ -93,10 +79,8 @@
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|comma|body|All|[Upstream](#upstream)|
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Edge 2022|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
@@ -108,9 +92,8 @@
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|Focus 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Focus Hybrid 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)|
|
||||
@@ -120,7 +103,6 @@
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
|
||||
|Ford|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Mustang Mach-E 2021-24|All|[Upstream](#upstream)|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Transit 2025|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
@@ -142,13 +124,11 @@
|
||||
|Genesis|GV80 2023|All|[Upstream](#upstream)|
|
||||
|Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
|
||||
|Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
|
||||
|GMC|Acadia 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|[Upstream](#upstream)|
|
||||
|GMC|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|GMC|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Holden|Astra 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Honda|Accord 2016-17|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Accord 2016-17|Honda Sensing|[Community](#community)|
|
||||
|Honda|Accord 2018-22|All|[Upstream](#upstream)|
|
||||
@@ -238,8 +218,8 @@
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Hyundai|Nexo 2021|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2023-25|HDA2|[Community](#community)|
|
||||
|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2023-24|HDA2|[Community](#community)|
|
||||
|Hyundai|Palisade (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
@@ -373,9 +353,7 @@
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Rivian|R1S 2022-24|All|[Upstream](#upstream)|
|
||||
|Rivian|R1S 2025|All|[Upstream](#upstream)|
|
||||
|Rivian|R1T 2022-24|All|[Upstream](#upstream)|
|
||||
|Rivian|R1T 2025|All|[Upstream](#upstream)|
|
||||
|SEAT|Alhambra 2018-20|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -401,8 +379,6 @@
|
||||
|Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Kamiq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Karoq 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -498,11 +474,6 @@
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
import copy
|
||||
from opendbc.can import CANPacker, CANParser
|
||||
from opendbc.car.honda.hondacan import honda_checksum
|
||||
|
||||
|
||||
class TestCanChecksums:
|
||||
@@ -91,13 +90,6 @@ class TestCanChecksums:
|
||||
assert parser.vl['LKAS_HUD']['CHECKSUM'] == std
|
||||
assert parser.vl['LKAS_HUD_A']['CHECKSUM'] == ext
|
||||
|
||||
def test_honda_canfd_checksum_offset_is_scoped_to_mvl_messages(self):
|
||||
# Existing high-ID Honda messages retain the legacy extended-ID offset;
|
||||
# only the Accord MVL replacement-radar IDs use the CAN-FD offset.
|
||||
payload = bytearray(8)
|
||||
assert honda_checksum(0xF31AA54, None, payload) == 11 # existing radarless LKAS_HUD_2
|
||||
assert honda_checksum(0xF31AA52, None, payload) == 4 # Accord MVL RADAR_LEAD2
|
||||
|
||||
def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'):
|
||||
"""Test AUTOSAR E2E Profile 2 CRCs"""
|
||||
assert len(test_messages) == 16 # All counter values must be tested
|
||||
|
||||
@@ -66,7 +66,7 @@ def _normalize_forced_candidate(candidate: str | None) -> str | None:
|
||||
return LEGACY_FORCED_CANDIDATE_MAP.get(candidate, candidate)
|
||||
|
||||
|
||||
def _normalize_gm_bolt_candidate(candidate: str | None, fingerprints: dict[int, dict], vin: str | None = None) -> str | None:
|
||||
def _normalize_gm_bolt_candidate(candidate: str | None, fingerprints: dict[int, dict]) -> str | None:
|
||||
"""
|
||||
Normalize ambiguous/mismatched Bolt candidates using robust PT message signatures.
|
||||
This guards against occasional wrong variant selection causing persistent canError.
|
||||
@@ -79,22 +79,7 @@ def _normalize_gm_bolt_candidate(candidate: str | None, fingerprints: dict[int,
|
||||
msg_304_len = pt.get(304) # 8 on 2017 Gen1, 1 on 2018-2021 Gen1
|
||||
has_pedal = 513 in pt
|
||||
|
||||
# The 2022-23 Bolt ACC, pedal, and CC variants share the same FPv1
|
||||
# fingerprint. Recover an ambiguous match when the observed traffic
|
||||
# matches the Bolt family and the VIN confirms model year 2022/2023.
|
||||
bolt_2022_2023_signature = (
|
||||
pt.get(190) == 7 and
|
||||
msg_211_len == 3 and
|
||||
pt.get(566) == 8 and
|
||||
pt.get(458) == 5
|
||||
)
|
||||
vin_year = vin[9] if isinstance(vin, str) and len(vin) > 9 else None
|
||||
|
||||
# VIN model-year codes: N=2022, P=2023.
|
||||
if candidate is None and bolt_2022_2023_signature and vin_year in ("N", "P"):
|
||||
return "CHEVROLET_BOLT_ACC_2022_2023_PEDAL" if has_pedal else "CHEVROLET_BOLT_ACC_2022_2023"
|
||||
# If detection failed entirely but the signature is clearly Bolt, recover to a sane default.
|
||||
|
||||
if candidate is None and 170 in pt and 188 in pt and msg_211_len in (2, 3):
|
||||
if msg_211_len == 3:
|
||||
return "CHEVROLET_BOLT_ACC_2022_2023_PEDAL" if has_pedal else "CHEVROLET_BOLT_ACC_2022_2023"
|
||||
@@ -294,7 +279,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
|
||||
def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
|
||||
is_release: bool, params: Params, num_pandas: int = 1, cached_params: CarParamsT | None = None, starpilot_toggles: SimpleNamespace = None):
|
||||
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
|
||||
candidate = _normalize_gm_bolt_candidate(candidate, fingerprints, vin)
|
||||
candidate = _normalize_gm_bolt_candidate(candidate, fingerprints)
|
||||
candidate = _normalize_gm_volt_candidate(candidate, fingerprints)
|
||||
candidate = _normalize_forced_candidate(candidate)
|
||||
fingerprinted_candidate = candidate
|
||||
|
||||
@@ -55,7 +55,7 @@ class CAR(Platforms):
|
||||
|
||||
EXTRA_HYUNDAI = ExtraPlatformConfig(
|
||||
[
|
||||
CommunityCarDocs("Hyundai Palisade 2023-25", package="HDA2"),
|
||||
CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
|
||||
CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
|
||||
],
|
||||
)
|
||||
|
||||
@@ -264,7 +264,6 @@ MIGRATION = {
|
||||
"GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
|
||||
"GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
|
||||
"GENESIS GV70 ELECTRIFIED 2026": HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
|
||||
"GENESIS GV70 2026": HYUNDAI.GENESIS_GV70_2026,
|
||||
"GENESIS G80 2017": HYUNDAI.GENESIS_G80,
|
||||
"GENESIS G90 2017": HYUNDAI.GENESIS_G90,
|
||||
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
|
||||
|
||||
@@ -255,15 +255,9 @@ class CarController(CarControllerBase):
|
||||
|
||||
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
|
||||
show_distance_bars = self.frame - self.distance_bar_frame < 400
|
||||
hands_free_cluster = bool(
|
||||
self.ford_lateral is not None
|
||||
and self.ford_lateral.mode != FordLateralMode.native
|
||||
and self.ford_lateral.mode == self.ford_lateral_announced_mode
|
||||
and self.ford_lateral.hands_free_cluster_enabled)
|
||||
can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
|
||||
fcw_alert, CS.out.cruiseState.standstill, show_distance_bars,
|
||||
hud_control, CS.acc_tja_status_stock_values,
|
||||
hands_free_cluster))
|
||||
hud_control, CS.acc_tja_status_stock_values))
|
||||
|
||||
self.main_on_last = main_on
|
||||
self.lkas_enabled_last = CC.latActive
|
||||
|
||||
@@ -4,7 +4,6 @@ from opendbc.car import Bus, create_button_events, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.ford.fordcan import CanBus
|
||||
from opendbc.car.ford.values import DBC, CarControllerParams, FordFlags
|
||||
from opendbc.car.gps import get_car_gps_config
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
@@ -28,40 +27,12 @@ class CarState(CarStateBase):
|
||||
self.lc_button = 0
|
||||
self.lkas_available = False
|
||||
self.lateral_motion_control = None
|
||||
self.lateral_control_status = None
|
||||
self.steering_angle_offset_deg = 0.0
|
||||
self.car_gps_config = get_car_gps_config(CP)
|
||||
self.car_gps_supported = self.car_gps_config is not None
|
||||
self.car_gps = None
|
||||
self._car_gps_timestamp_nanos = 0
|
||||
|
||||
def _update_car_gps(self, cp) -> None:
|
||||
if self.car_gps_config is None:
|
||||
return
|
||||
|
||||
timestamps = [max(cp.ts_nanos[name].values(), default=0) for name in self.car_gps_config.messages]
|
||||
if not all(timestamps) or max(timestamps) - min(timestamps) > 2_000_000_000:
|
||||
return
|
||||
|
||||
timestamp_nanos = max(timestamps)
|
||||
if timestamp_nanos <= self._car_gps_timestamp_nanos:
|
||||
return
|
||||
|
||||
gps = self.car_gps_config.decoder(*(cp.vl[name] for name in self.car_gps_config.messages))
|
||||
if gps is not None:
|
||||
gps["timestamp_nanos"] = timestamp_nanos
|
||||
self.car_gps = gps
|
||||
self._car_gps_timestamp_nanos = timestamp_nanos
|
||||
|
||||
def get_car_gps(self):
|
||||
return self.car_gps
|
||||
|
||||
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
|
||||
self._update_car_gps(cp)
|
||||
|
||||
ret = structs.CarState()
|
||||
|
||||
if self.CP.flags & FordFlags.ALT_STEER_ANGLE:
|
||||
@@ -110,8 +81,7 @@ class CarState(CarStateBase):
|
||||
|
||||
if self.CP.flags & FordFlags.CANFD:
|
||||
# this signal is always 0 on non-CAN FD cars
|
||||
self.lateral_control_status = int(cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"])
|
||||
ret.steerFaultTemporary |= self.lateral_control_status not in (1, 2, 3)
|
||||
ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
|
||||
|
||||
# cruise state
|
||||
is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else \
|
||||
@@ -207,9 +177,7 @@ class CarState(CarStateBase):
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP):
|
||||
gps_config = get_car_gps_config(CP)
|
||||
gps_messages = [(name, 0) for name in gps_config.messages] if gps_config is not None else []
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], gps_messages, CanBus(CP).main),
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).main),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
|
||||
}
|
||||
|
||||
@@ -181,7 +181,7 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
|
||||
|
||||
|
||||
def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
|
||||
show_distance_bars: bool, hud_control, stock_values: dict, hands_free_cluster: bool = False):
|
||||
show_distance_bars: bool, hud_control, stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
|
||||
assist status.
|
||||
@@ -197,8 +197,6 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
|
||||
status = 3 # ActiveInterventionLeft
|
||||
elif hud_control.rightLaneDepart:
|
||||
status = 4 # ActiveInterventionRight
|
||||
elif hands_free_cluster:
|
||||
status = 7 # Hands-free assistance display
|
||||
else:
|
||||
status = 2 # Active
|
||||
elif main_on:
|
||||
|
||||
@@ -54,10 +54,10 @@ class CarInterface(CarInterfaceBase):
|
||||
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
|
||||
ret.safetyConfigs = cfgs
|
||||
|
||||
ret.alphaLongitudinalAvailable = True
|
||||
ret.openpilotLongitudinalControl = bool(alpha_long)
|
||||
if ret.openpilotLongitudinalControl:
|
||||
ret.alphaLongitudinalAvailable = ret.radarUnavailable
|
||||
if alpha_long or not ret.radarUnavailable:
|
||||
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
|
||||
ret.openpilotLongitudinalControl = True
|
||||
|
||||
if ret.flags & FordFlags.CANFD:
|
||||
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
|
||||
|
||||
@@ -1,18 +1,12 @@
|
||||
import random
|
||||
from collections.abc import Iterable
|
||||
from types import SimpleNamespace
|
||||
|
||||
from hypothesis import settings, given, strategies as st
|
||||
from parameterized import parameterized
|
||||
|
||||
from opendbc.car import Bus, gen_empty_fingerprint
|
||||
from opendbc.can import CANPacker
|
||||
from opendbc.car.ford import fordcan
|
||||
from opendbc.car.gps import FORD_MACH_E_GPS_MESSAGES, get_car_gps_config, parse_ford_can_gps
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.fw_versions import build_fw_dict
|
||||
from opendbc.car.ford.interface import CarInterface
|
||||
from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, FordSafetyFlags, get_platform_codes, match_vin_to_car
|
||||
from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes, match_vin_to_car
|
||||
from opendbc.car.ford.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
@@ -160,141 +154,3 @@ class TestFordFW:
|
||||
live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
|
||||
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
|
||||
assert len(candidates) == 0, "Should not match new model year hint"
|
||||
|
||||
|
||||
def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
|
||||
stock = CarInterface.get_params(
|
||||
CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
enhanced = CarInterface.get_params(
|
||||
CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], True, False, False, None)
|
||||
|
||||
assert stock.alphaLongitudinalAvailable
|
||||
assert not stock.openpilotLongitudinalControl
|
||||
assert stock.pcmCruise
|
||||
assert not (stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL)
|
||||
|
||||
assert enhanced.alphaLongitudinalAvailable
|
||||
assert enhanced.openpilotLongitudinalControl
|
||||
assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL
|
||||
|
||||
|
||||
def test_mach_e_can_gps_decode():
|
||||
nav1 = {
|
||||
"GpsHsphLattSth_D_Actl": 2,
|
||||
"GpsHsphLongEast_D_Actl": 2,
|
||||
"GPS_Latitude_Degrees": 37,
|
||||
"GPS_Latitude_Minutes": 57,
|
||||
"GPS_Latitude_Min_dec": 0.8864,
|
||||
"GPS_Longitude_Degrees": -121,
|
||||
"GPS_Longitude_Minutes": 44,
|
||||
"GPS_Longitude_Min_dec": 0.22,
|
||||
}
|
||||
nav2 = {
|
||||
"GpsUtcYr_No_Actl": 2026,
|
||||
"GpsUtcMnth_No_Actl": 8,
|
||||
"GpsUtcDay_No_Actl": 26,
|
||||
"GPS_UTC_hours": 0,
|
||||
"GPS_UTC_minutes": 24,
|
||||
"GPS_UTC_seconds": 38,
|
||||
"Gps_B_Falt": 0,
|
||||
}
|
||||
nav3 = {
|
||||
"GPS_dimension": 2,
|
||||
"GPS_Hdop": 0.6,
|
||||
"GPS_Vdop": 0.8,
|
||||
"GPS_Sat_num_in_view": 31,
|
||||
"GPS_MSL_altitude": 90,
|
||||
"GPS_Speed": 10,
|
||||
"GPS_Heading": 180,
|
||||
}
|
||||
|
||||
gps = parse_ford_can_gps(nav1, nav2, nav3)
|
||||
|
||||
assert gps is not None
|
||||
assert gps["latitude"] == 37.96477333333333
|
||||
assert gps["longitude"] == -121.737
|
||||
assert abs(gps["altitude"] - 27.432) < 1e-9
|
||||
assert abs(gps["speed"] - 10 * 0.44704) < 1e-9
|
||||
assert gps["hasFix"]
|
||||
assert gps["satelliteCount"] == 0 # 31 is Ford's invalid sentinel.
|
||||
|
||||
|
||||
def test_mach_e_can_gps_fault_invalidates_fix():
|
||||
nav1 = {
|
||||
"GpsHsphLattSth_D_Actl": 2,
|
||||
"GpsHsphLongEast_D_Actl": 2,
|
||||
"GPS_Latitude_Degrees": 37,
|
||||
"GPS_Latitude_Minutes": 57,
|
||||
"GPS_Latitude_Min_dec": 0.8864,
|
||||
"GPS_Longitude_Degrees": -121,
|
||||
"GPS_Longitude_Minutes": 44,
|
||||
"GPS_Longitude_Min_dec": 0.22,
|
||||
}
|
||||
nav2 = {
|
||||
"GpsUtcYr_No_Actl": 2026,
|
||||
"GpsUtcMnth_No_Actl": 8,
|
||||
"GpsUtcDay_No_Actl": 26,
|
||||
"GPS_UTC_hours": 0,
|
||||
"GPS_UTC_minutes": 24,
|
||||
"GPS_UTC_seconds": 38,
|
||||
"Gps_B_Falt": 1,
|
||||
}
|
||||
nav3 = {
|
||||
"GPS_dimension": 2,
|
||||
"GPS_Hdop": 0.6,
|
||||
"GPS_Vdop": 0.8,
|
||||
"GPS_Sat_num_in_view": 31,
|
||||
"GPS_MSL_altitude": 90,
|
||||
"GPS_Speed": 0,
|
||||
"GPS_Heading": 180,
|
||||
}
|
||||
|
||||
gps = parse_ford_can_gps(nav1, nav2, nav3)
|
||||
|
||||
assert gps is not None
|
||||
assert not gps["hasFix"]
|
||||
assert gps["latitude"] == 37.96477333333333
|
||||
assert gps["altitude"] == 0.0
|
||||
|
||||
|
||||
def test_mach_e_can_gps_messages_are_optional_main_bus_inputs():
|
||||
cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
parser = CarInterface.CarState.get_can_parsers(cp)[Bus.pt]
|
||||
gps_config = get_car_gps_config(cp)
|
||||
|
||||
assert gps_config is not None
|
||||
assert gps_config.messages == FORD_MACH_E_GPS_MESSAGES
|
||||
assert gps_config.decoder is parse_ford_can_gps
|
||||
assert set(parser.addresses) >= {0x462, 0x463, 0x464}
|
||||
assert set(FORD_MACH_E_GPS_MESSAGES) == set(gps_config.messages) == {
|
||||
parser.dbc.addr_to_msg[0x462].name,
|
||||
parser.dbc.addr_to_msg[0x463].name,
|
||||
parser.dbc.addr_to_msg[0x464].name,
|
||||
}
|
||||
assert all(parser.message_states[address].ignore_alive for address in (0x462, 0x463, 0x464))
|
||||
|
||||
|
||||
def test_hands_free_cluster_status_is_opt_in():
|
||||
packer = CANPacker("ford_lincoln_base_pt")
|
||||
CAN = SimpleNamespace(main=0)
|
||||
CP = SimpleNamespace(openpilotLongitudinalControl=False)
|
||||
hud = SimpleNamespace(leftLaneDepart=False, rightLaneDepart=False)
|
||||
stock_values = dict.fromkeys([
|
||||
"HaDsply_No_Cs", "HaDsply_No_Cnt", "AccStopStat_D_Dsply", "AccTrgDist2_D_Dsply",
|
||||
"AccStopRes_B_Dsply", "TjaWarn_D_Rq", "TjaMsgTxt_D_Dsply", "IaccLamp_D_Rq",
|
||||
"AccMsgTxt_D2_Rq", "FcwDeny_B_Dsply", "FcwMemStat_B_Actl", "AccTGap_B_Dsply",
|
||||
"CadsAlignIncplt_B_Actl", "AccFllwMde_B_Dsply", "CadsRadrBlck_B_Actl",
|
||||
"CmbbPostEvnt_B_Dsply", "AccStopMde_B_Dsply", "FcwMemSens_D_Actl",
|
||||
"FcwMsgTxt_D_Rq", "AccWarn_D_Dsply", "FcwVisblWarn_B_Rq", "FcwAudioWarn_B_Rq",
|
||||
"AccTGap_D_Dsply", "AccMemEnbl_B_RqDrv", "FdaMem_B_Stat",
|
||||
], 0)
|
||||
|
||||
regular = fordcan.create_acc_ui_msg(
|
||||
packer, CAN, CP, True, True, False, False, False, hud, stock_values)
|
||||
hands_free = fordcan.create_acc_ui_msg(
|
||||
packer, CAN, CP, True, True, False, False, False, hud, stock_values, True)
|
||||
expected_regular = packer.make_can_msg("ACCDATA_3", 0, {"Tja_D_Stat": 2})
|
||||
expected_hands_free = packer.make_can_msg("ACCDATA_3", 0, {"Tja_D_Stat": 7})
|
||||
|
||||
assert regular == expected_regular
|
||||
assert hands_free == expected_hands_free
|
||||
|
||||
@@ -132,7 +132,11 @@ class FordLKASteeringPlatformConfig(FordPlatformConfig):
|
||||
|
||||
@dataclass
|
||||
class FordF150LightningPlatform(FordCANFDPlatformConfig):
|
||||
pass
|
||||
def init(self):
|
||||
super().init()
|
||||
|
||||
# Don't show in docs until this issue is resolved. See https://github.com/commaai/openpilot/issues/30302
|
||||
self.car_docs = []
|
||||
|
||||
|
||||
MY_2020, MY_2021, MY_2022, MY_2023, MY_2024, MY_2025 = 'L', 'M', 'N', 'P', 'R', 'S'
|
||||
|
||||
@@ -110,13 +110,8 @@ class FwQueryConfig:
|
||||
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
|
||||
# returns set of candidates. Only will match if one candidate is returned
|
||||
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
|
||||
# Platforms whose shared firmware must be disambiguated by the brand fuzzy matcher.
|
||||
fuzzy_only_platforms: set[str] = field(default_factory=set)
|
||||
|
||||
def __post_init__(self):
|
||||
assert not self.fuzzy_only_platforms or self.match_fw_to_car_fuzzy is not None, \
|
||||
"Fuzzy-only platforms require a brand fuzzy matcher"
|
||||
|
||||
# Asserts that a request exists if extra ecus are used
|
||||
if len(self.extra_ecus):
|
||||
assert len(self.requests), "Must define a request with extra ecus"
|
||||
|
||||
@@ -111,8 +111,7 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N
|
||||
|
||||
invalid = set()
|
||||
candidates = {c: f for c, f in FW_VERSIONS.items() if
|
||||
is_brand(MODEL_TO_BRAND[c], match_brand) and
|
||||
c not in FW_QUERY_CONFIGS[MODEL_TO_BRAND[c]].fuzzy_only_platforms}
|
||||
is_brand(MODEL_TO_BRAND[c], match_brand)}
|
||||
|
||||
for candidate, fws in candidates.items():
|
||||
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
|
||||
|
||||
@@ -214,12 +214,16 @@ class GMPlatformConfig(PlatformConfig):
|
||||
|
||||
@dataclass
|
||||
class GMASCMPlatformConfig(GMPlatformConfig):
|
||||
pass
|
||||
def init(self):
|
||||
# ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
|
||||
self.car_docs = []
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMSDGMPlatformConfig(GMPlatformConfig):
|
||||
pass
|
||||
def init(self):
|
||||
# Don't show in docs until the harness is sold. See https://github.com/commaai/openpilot/issues/32471
|
||||
self.car_docs = []
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
|
||||
@@ -1,115 +0,0 @@
|
||||
import math
|
||||
|
||||
from dataclasses import dataclass
|
||||
from datetime import UTC, datetime
|
||||
from collections.abc import Callable, Mapping
|
||||
from typing import Any
|
||||
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.ford.values import CAR as FORD_CAR
|
||||
|
||||
|
||||
CarGpsSample = dict[str, Any]
|
||||
CanGpsDecoder = Callable[..., CarGpsSample | None]
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class CarGpsConfig:
|
||||
"""Vehicle-specific CAN GPS inputs and decoder."""
|
||||
|
||||
brand: str
|
||||
messages: tuple[str, ...]
|
||||
decoder: CanGpsDecoder
|
||||
|
||||
|
||||
def _dop_accuracy(dop: float, default: float = 500.0) -> float:
|
||||
"""Convert Ford's dimensionless DOP into a conservative meter estimate."""
|
||||
return max(1.0, dop * 5.0) if 0.0 <= dop <= 5.8 else default
|
||||
|
||||
|
||||
def parse_ford_can_gps(nav1: Mapping[str, float], nav2: Mapping[str, float], nav3: Mapping[str, float]) -> CarGpsSample | None:
|
||||
"""Decode the Ford APIM GPS messages into the fields used by gpsLocationExternal."""
|
||||
year = int(nav2["GpsUtcYr_No_Actl"])
|
||||
month = int(nav2["GpsUtcMnth_No_Actl"])
|
||||
day = int(nav2["GpsUtcDay_No_Actl"])
|
||||
hour = int(nav2["GPS_UTC_hours"])
|
||||
minute = int(nav2["GPS_UTC_minutes"])
|
||||
second = int(nav2["GPS_UTC_seconds"])
|
||||
try:
|
||||
timestamp_ms = int(datetime(year, month, day, hour, minute, second, tzinfo=UTC).timestamp() * 1000)
|
||||
except ValueError:
|
||||
return None
|
||||
|
||||
latitude_direction = int(nav1["GpsHsphLattSth_D_Actl"])
|
||||
longitude_direction = int(nav1["GpsHsphLongEast_D_Actl"])
|
||||
latitude_degrees = abs(float(nav1["GPS_Latitude_Degrees"]))
|
||||
longitude_degrees = abs(float(nav1["GPS_Longitude_Degrees"]))
|
||||
latitude_minutes = float(nav1["GPS_Latitude_Minutes"]) + float(nav1["GPS_Latitude_Min_dec"])
|
||||
longitude_minutes = float(nav1["GPS_Longitude_Minutes"]) + float(nav1["GPS_Longitude_Min_dec"])
|
||||
|
||||
coordinates_valid = (
|
||||
latitude_direction in (1, 2) and longitude_direction in (1, 2) and
|
||||
0.0 <= latitude_degrees <= 90.0 and 0.0 <= longitude_degrees <= 180.0 and
|
||||
0.0 <= latitude_minutes < 60.0 and 0.0 <= longitude_minutes < 60.0
|
||||
)
|
||||
latitude = (1.0 if latitude_direction == 2 else -1.0) * (latitude_degrees + latitude_minutes / 60.0) if coordinates_valid else 0.0
|
||||
longitude = (1.0 if longitude_direction == 1 else -1.0) * (longitude_degrees + longitude_minutes / 60.0) if coordinates_valid else 0.0
|
||||
|
||||
dimension = int(nav3["GPS_dimension"])
|
||||
has_fix = coordinates_valid and dimension in (1, 2) and int(nav2["Gps_B_Falt"]) == 0
|
||||
|
||||
speed_mph = float(nav3["GPS_Speed"])
|
||||
speed_mps = speed_mph * CV.MPH_TO_MS
|
||||
heading = float(nav3["GPS_Heading"])
|
||||
if speed_mph in (254.0, 255.0) or not math.isfinite(speed_mps) or not 0.0 <= speed_mps <= 200.0:
|
||||
speed_mps = 0.0
|
||||
if not math.isfinite(heading) or not 0.0 <= heading < 360.0:
|
||||
heading = 0.0
|
||||
|
||||
vertical_accuracy = _dop_accuracy(float(nav3["GPS_Vdop"]))
|
||||
horizontal_accuracy = _dop_accuracy(float(nav3["GPS_Hdop"]))
|
||||
satellite_count = int(nav3["GPS_Sat_num_in_view"])
|
||||
if not 0 <= satellite_count < 30: # 30 and 31 are Ford's unknown/invalid values.
|
||||
satellite_count = 0
|
||||
|
||||
heading_rad = math.radians(heading)
|
||||
return {
|
||||
"latitude": latitude,
|
||||
"longitude": longitude,
|
||||
"altitude": (float(nav3["GPS_MSL_altitude"]) * 0.3048) if has_fix else 0.0,
|
||||
"speed": speed_mps,
|
||||
"bearingDeg": heading,
|
||||
"horizontalAccuracy": horizontal_accuracy,
|
||||
"unixTimestampMillis": timestamp_ms,
|
||||
"verticalAccuracy": vertical_accuracy,
|
||||
"bearingAccuracyDeg": max(5.0, horizontal_accuracy * 2.0) if speed_mps > 1.0 else 180.0,
|
||||
"speedAccuracy": max(0.5, horizontal_accuracy),
|
||||
"hasFix": has_fix,
|
||||
"satelliteCount": satellite_count,
|
||||
"vNED": [speed_mps * math.cos(heading_rad), speed_mps * math.sin(heading_rad), 0.0],
|
||||
}
|
||||
|
||||
|
||||
FORD_MACH_E_GPS_MESSAGES = (
|
||||
"APIMGPS_Data_Nav_1_FD1",
|
||||
"APIMGPS_Data_Nav_2_FD1",
|
||||
"APIMGPS_Data_Nav_3_FD1",
|
||||
)
|
||||
|
||||
|
||||
CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
|
||||
FORD_CAR.FORD_MUSTANG_MACH_E_MK1: CarGpsConfig(
|
||||
brand="ford",
|
||||
messages=FORD_MACH_E_GPS_MESSAGES,
|
||||
decoder=parse_ford_can_gps,
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
def get_car_gps_config(CP) -> CarGpsConfig | None:
|
||||
config = CAR_GPS_CONFIGS.get(CP.carFingerprint)
|
||||
return config if config is not None and config.brand == CP.brand else None
|
||||
|
||||
|
||||
def car_gps_available(CP) -> bool:
|
||||
return get_car_gps_config(CP) is not None
|
||||
@@ -7,7 +7,6 @@ from opendbc.car.honda import hondacan
|
||||
from opendbc.car.honda.values import (
|
||||
CAR,
|
||||
CruiseButtons,
|
||||
CruiseSettings,
|
||||
HONDA_BOSCH,
|
||||
HONDA_BOSCH_CANFD,
|
||||
HONDA_BOSCH_RADARLESS,
|
||||
@@ -17,7 +16,6 @@ from opendbc.car.honda.values import (
|
||||
HondaFlags,
|
||||
)
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
from opendbc.car.common.pid import PIDController
|
||||
from openpilot.common.params import Params
|
||||
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
@@ -213,14 +211,6 @@ class CarController(CarControllerBase):
|
||||
self.CAN = hondacan.CanBus(CP)
|
||||
self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
|
||||
|
||||
# MVL CAN-FD ownership state. These do not affect non-CANFD vehicles.
|
||||
self.radar_disable_counter = 0
|
||||
self.radar_mux = 0
|
||||
self.radar_hud_pulse = 0
|
||||
self.last_acc_enabled = False
|
||||
self.lkas_button_send_remaining = 0
|
||||
self.last_lkas_button_frame = 0
|
||||
|
||||
self.braking = False
|
||||
self.brake_steady = 0.0
|
||||
self.brake_last = 0.0
|
||||
@@ -244,10 +234,6 @@ class CarController(CarControllerBase):
|
||||
self.bosch_gas_factor_before_gasmax = self.bosch_gas_factor
|
||||
self.bosch_wind_factor_before_gasmax = self.bosch_wind_factor
|
||||
self.pitch = 0.0
|
||||
self.mvl_accord_mode = CP.carFingerprint == CAR.HONDA_ACCORD_11G
|
||||
# MVL Bosch low-speed extra-brake integrator. Active only for Accord 11G MVL mode.
|
||||
self.mvl_brake_pid = PIDController(k_p=0.0, k_i=1.0, pos_limit=0.0, neg_limit=-2.0, rate=50)
|
||||
self.mvl_brake_pid.reset()
|
||||
|
||||
def _modified_civic_standard_active(self) -> bool:
|
||||
return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(self.CP.flags & HondaFlags.EPS_MODIFIED)
|
||||
@@ -269,7 +255,6 @@ class CarController(CarControllerBase):
|
||||
hud_v_cruise = hud_control.setSpeed / CS.v_cruise_factor if hud_control.speedVisible else 255
|
||||
pcm_cancel_cmd = CC.cruiseControl.cancel
|
||||
gas_interceptor_command = 0.0
|
||||
min_gas = self.params.BOSCH_GAS_LOOKUP_BP[0]
|
||||
if len(CC.orientationNED) == 3:
|
||||
self.pitch = CC.orientationNED[1]
|
||||
hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
|
||||
@@ -323,56 +308,11 @@ class CarController(CarControllerBase):
|
||||
# Send CAN commands
|
||||
can_sends = []
|
||||
|
||||
# Bosch radar ownership. On CAN-FD, leave the stock radar active until the comma relay is open,
|
||||
# then enter extended diagnostics and disable radar RX/TX. This prevents a gap between stock
|
||||
# ACC_CONTROL disappearing and panda permitting openpilot's replacement stream.
|
||||
# tester present - w/ no response (keeps radar disabled)
|
||||
if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
|
||||
if self.mvl_accord_mode and CS.stock_acc_alive:
|
||||
if CS.canfd_relay_open:
|
||||
if self.radar_disable_counter % 50 == 0:
|
||||
can_sends.append((0x18DAB0F1, b'\x02\x10\x03\x00\x00\x00\x00\x00', self.CAN.pt))
|
||||
elif self.radar_disable_counter % 50 == 5:
|
||||
can_sends.append((0x18DAB0F1, b'\x03\x28\x83\x03\x00\x00\x00\x00', self.CAN.pt))
|
||||
self.radar_disable_counter += 1
|
||||
elif self.frame % 10 == 0:
|
||||
if self.frame % 10 == 0:
|
||||
can_sends.append(make_tester_present_msg(0x18DAB0F1, self.CAN.pt, suppress_response=True))
|
||||
|
||||
# After the stock CAN-FD radar is silent, reproduce its low-rate/tick-aligned messages on both
|
||||
# the PT and camera sides of the open relay. Pack once and mirror identical bytes so counters and
|
||||
# checksums stay synchronized. v3 deliberately uses an idle lane/object payload first; model-based
|
||||
# cluster rendering is deferred until the ownership/DTC handover is proven.
|
||||
mvl_radar_owned = self.mvl_accord_mode and CS.canfd_relay_open and not CS.stock_acc_alive
|
||||
if mvl_radar_owned and self.CP.openpilotLongitudinalControl:
|
||||
if CC.enabled and not self.last_acc_enabled:
|
||||
self.radar_hud_pulse = 30
|
||||
self.last_acc_enabled = CC.enabled
|
||||
|
||||
radar_msgs = []
|
||||
if CS.hud_tick:
|
||||
radar_msgs.append(hondacan.create_radar_hud_canfd(self.packer, self.CAN.pt, CC.enabled, self.radar_hud_pulse > 0))
|
||||
if self.radar_hud_pulse > 0:
|
||||
self.radar_hud_pulse -= 1
|
||||
if CS.supp_tick:
|
||||
radar_msgs.append(hondacan.create_canfd_supplemental(self.packer, self.CAN.pt))
|
||||
if CS.radar_50hz_tick:
|
||||
if self.radar_mux >= 58:
|
||||
self.radar_mux = 1
|
||||
elif self.radar_mux == 10:
|
||||
self.radar_mux = 17
|
||||
elif self.radar_mux == 26:
|
||||
self.radar_mux = 33
|
||||
elif self.radar_mux == 42:
|
||||
self.radar_mux = 49
|
||||
else:
|
||||
self.radar_mux += 1
|
||||
radar_msgs.extend(hondacan.create_canfd_50hz_radar_messages(self.packer, self.CAN.pt, self.radar_mux))
|
||||
if CS.radar_5hz_tick:
|
||||
radar_msgs.extend(hondacan.create_canfd_5hz_radar_messages(self.packer, self.CAN.pt, CS.radar_ref_counter))
|
||||
|
||||
for addr, dat, _ in radar_msgs:
|
||||
can_sends.append((addr, dat, self.CAN.pt))
|
||||
can_sends.append((addr, dat, self.CAN.camera))
|
||||
|
||||
# Send steering command.
|
||||
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))
|
||||
|
||||
@@ -412,37 +352,23 @@ class CarController(CarControllerBase):
|
||||
ts = self.frame * DT_CTRL
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH:
|
||||
if self.mvl_accord_mode and (accel < min_gas) and (1e-3 < CS.out.vEgo < 3.0):
|
||||
brake_addon = self.mvl_brake_pid.update(error=accel - CS.out.aEgo, speed=CS.out.vEgo)
|
||||
target_accel = min(accel, accel + brake_addon)
|
||||
else:
|
||||
if self.mvl_accord_mode:
|
||||
self.mvl_brake_pid.reset()
|
||||
target_accel = accel
|
||||
|
||||
self.accel = float(np.clip(target_accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
|
||||
# MVL uses requested accel (not extra-brake-adjusted accel) to decide propulsion crossover.
|
||||
gas_pedal_force = (accel if self.mvl_accord_mode else self.accel) + hill_brake
|
||||
self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
|
||||
gas_pedal_force = self.accel + hill_brake
|
||||
|
||||
if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
|
||||
gas_pedal_force += wind_brake_mps2 * self.bosch_wind_factor
|
||||
|
||||
if actuators.longControlState == LongCtrlState.pid and not CS.out.gasPressed:
|
||||
gas_error = (accel if self.mvl_accord_mode else self.accel) - CS.out.aEgo
|
||||
gas_error = self.accel - CS.out.aEgo
|
||||
|
||||
if gas_error != 0.0 and gas_pedal_force > min_gas:
|
||||
if gas_error != 0.0 and gas_pedal_force > 0.0:
|
||||
if self.CP.carFingerprint == CAR.HONDA_INSIGHT:
|
||||
gas_learn_speed = 150.0
|
||||
elif self.CP.carFingerprint in (CAR.ACURA_RDX_3G, CAR.ACURA_RDX_3G_MMR):
|
||||
gas_learn_speed = 300.0
|
||||
else:
|
||||
gas_learn_speed = 50.0
|
||||
gas_factor_floor = 0.01 if self.mvl_accord_mode else 0.1
|
||||
gas_learn_force = (gas_pedal_force - min_gas) if self.mvl_accord_mode else gas_pedal_force
|
||||
self.bosch_gas_factor = float(np.clip(
|
||||
self.bosch_gas_factor + gas_error / gas_learn_speed * gas_learn_force,
|
||||
gas_factor_floor, 3.0,
|
||||
))
|
||||
self.bosch_gas_factor = float(np.clip(self.bosch_gas_factor + gas_error / gas_learn_speed * gas_pedal_force, 0.1, 3.0))
|
||||
|
||||
if gas_error != 0.0 and not CS.out.brakePressed and CS.out.vEgo > 0.0:
|
||||
wind_learn_speed = 100.0 if self.CP.carFingerprint in (CAR.ACURA_RDX_3G, CAR.ACURA_RDX_3G_MMR) else 1000.0
|
||||
@@ -452,8 +378,7 @@ class CarController(CarControllerBase):
|
||||
else:
|
||||
self.bosch_wind_factor = float(np.clip(self.bosch_wind_factor / wind_adjust, 0.1, 3.0))
|
||||
|
||||
wind_brake_threshold = min_gas if self.mvl_accord_mode else 0.0
|
||||
if gas_pedal_force <= wind_brake_threshold:
|
||||
if gas_pedal_force <= 0.0:
|
||||
self.bosch_wind_factor = max(self.bosch_wind_factor, self.bosch_wind_factor_before_brake)
|
||||
else:
|
||||
self.bosch_wind_factor_before_brake = self.bosch_wind_factor
|
||||
@@ -465,21 +390,15 @@ class CarController(CarControllerBase):
|
||||
self.bosch_gas_factor_before_gasmax = self.bosch_gas_factor
|
||||
self.bosch_wind_factor_before_gasmax = self.bosch_wind_factor
|
||||
|
||||
gas_lookup_input = ((gas_pedal_force - min_gas) * self.bosch_gas_factor + min_gas) if self.mvl_accord_mode else \
|
||||
gas_pedal_force * self.bosch_gas_factor
|
||||
self.gas = float(np.interp(gas_lookup_input, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
|
||||
self.gas = float(np.interp(gas_pedal_force * self.bosch_gas_factor, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
|
||||
self.gas = min(self.gas, max(60.0, self.bosch_last_gas + 60.0))
|
||||
self.bosch_last_gas = self.gas
|
||||
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
|
||||
if not self.mvl_accord_mode or mvl_radar_owned:
|
||||
can_sends.extend(
|
||||
hondacan.create_acc_commands(
|
||||
self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP,
|
||||
gas_force=gas_pedal_force if self.mvl_accord_mode else None,
|
||||
)
|
||||
)
|
||||
can_sends.extend(
|
||||
hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP.carFingerprint)
|
||||
)
|
||||
else:
|
||||
apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
|
||||
apply_brake = int(np.clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
|
||||
@@ -521,16 +440,9 @@ class CarController(CarControllerBase):
|
||||
idx = (self.frame // 2) % 0x10
|
||||
can_sends.append(create_gas_interceptor_command(self.packer, gas_interceptor_command, idx))
|
||||
|
||||
# Send dashboard UI commands. On CAN-FD, ACC_HUD is owned by the radar and must only start
|
||||
# after the handover, aligned to the radar's 10 Hz HUD tick.
|
||||
if (mvl_radar_owned and CS.hud_tick and self.CP.openpilotLongitudinalControl):
|
||||
can_sends.append(
|
||||
hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, actuators.accel,
|
||||
hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud)
|
||||
)
|
||||
|
||||
# Send dashboard UI commands.
|
||||
if self.frame % 10 == 0:
|
||||
if self.CP.openpilotLongitudinalControl and not self.mvl_accord_mode:
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# On Nidec, this also controls longitudinal positive acceleration
|
||||
can_sends.append(
|
||||
hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, pcm_accel, hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud)
|
||||
@@ -546,7 +458,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# TODO: combining with create_acc_hud block above will change message order and will need replay logs regenerated
|
||||
if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - {CAR.HONDA_ACCORD_11G}):
|
||||
if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
|
||||
can_sends.append(hondacan.create_radar_hud(self.packer, self.CAN.pt))
|
||||
if self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
|
||||
can_sends.append(hondacan.create_legacy_brake_command(self.packer, self.CAN.pt))
|
||||
@@ -557,29 +469,6 @@ class CarController(CarControllerBase):
|
||||
else:
|
||||
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
|
||||
|
||||
# CAN-FD: while engaged, the camera still needs a valid SCM_BUTTONS stream behind the open relay.
|
||||
# Take over that stream, echoing the live ambient-light byte. Also send a short LKAS-setting pulse
|
||||
# when stock LKAS is ready, matching MVL's workaround for the Honda touch-steering-wheel timer.
|
||||
if (self.mvl_accord_mode and CC.enabled and self.frame % 4 == 0
|
||||
and not pcm_cancel_cmd and not CC.cruiseControl.resume):
|
||||
if (self.lkas_button_send_remaining == 0 and CS.lkas_hud["LKAS_READY"]
|
||||
and self.frame >= self.last_lkas_button_frame + 500):
|
||||
self.lkas_button_send_remaining = 3
|
||||
|
||||
if self.lkas_button_send_remaining > 0:
|
||||
self.last_lkas_button_frame = self.frame
|
||||
self.lkas_button_send_remaining -= 1
|
||||
cruise_setting = CruiseSettings.LKAS
|
||||
elif CS.cruise_setting == CruiseSettings.LKAS:
|
||||
cruise_setting = 0
|
||||
else:
|
||||
cruise_setting = CS.cruise_setting
|
||||
|
||||
can_sends.append(hondacan.spam_buttons_command(
|
||||
self.packer, self.CAN, CS.cruise_buttons, self.CP.carFingerprint,
|
||||
cruise_setting=cruise_setting, ambient_light=CS.scm_ambient_light, bus=self.CAN.camera,
|
||||
))
|
||||
|
||||
if self.frame > 0 and self.frame % 6000 == 0:
|
||||
self.param_store.put_float("HondaGasFactorParams", self.bosch_gas_factor)
|
||||
self.param_store.put_float("HondaWindFactorParams", self.bosch_wind_factor)
|
||||
|
||||
@@ -68,33 +68,11 @@ class CarState(CarStateBase):
|
||||
self.initial_accFault_cleared = False
|
||||
self.initial_accFault_cleared_timer = int(10 / DT_CTRL)
|
||||
|
||||
# CAN-FD deferred radar handover state. The stock radar remains responsible for ACC_CONTROL
|
||||
# until the relay is open and the controller has silenced it; radar reference/tick messages are
|
||||
# used to keep the replacement radar look-alikes on the stock cadence after the handover.
|
||||
self.radar_ref_counter = 0
|
||||
self.radar_5hz_tick_counter = 0
|
||||
self.radar_5hz_tick = False
|
||||
self.supp_tick_counter = 0
|
||||
self.supp_tick = False
|
||||
self.hud_tick_counter = 0
|
||||
self.hud_tick = False
|
||||
self.radar_50hz_tick_counter = 0
|
||||
self.radar_50hz_tick = False
|
||||
self.scm_ambient_light = 0
|
||||
self.stock_acc_counter = 0
|
||||
self.stock_acc_alive = False
|
||||
self.camera_steer_counter = 0
|
||||
self.camera_steer_seen = False
|
||||
self.canfd_frames = 0
|
||||
self.canfd_relay_open = False
|
||||
|
||||
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
if self.CP.enableBsm:
|
||||
cp_body = can_parsers[Bus.body]
|
||||
if self.CP.carFingerprint == CAR.HONDA_ACCORD_11G:
|
||||
cp_radar = can_parsers[Bus.radar]
|
||||
|
||||
ret = structs.CarState()
|
||||
|
||||
@@ -107,10 +85,6 @@ class CarState(CarStateBase):
|
||||
prev_cruise_setting = self.cruise_setting
|
||||
self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
|
||||
self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
|
||||
if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | {CAR.HONDA_ACCORD_11G}):
|
||||
# The camera consumes this byte in SCM_BUTTONS too (adaptive high beam); preserve it when
|
||||
# openpilot temporarily takes over SCM_BUTTONS toward the camera.
|
||||
self.scm_ambient_light = cp.vl["SCM_BUTTONS"]["AMBIENT_LIGHT_MAYBE"]
|
||||
|
||||
# used for car hud message
|
||||
self.is_metric = self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_TWN,) or not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
|
||||
@@ -142,8 +116,8 @@ class CarState(CarStateBase):
|
||||
steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
|
||||
ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TJA_LOW_SPEED_LOCKOUT",
|
||||
"TMP_FAULT")
|
||||
if self.CP.carFingerprint in (HONDA_BOSCH_ALT_RADAR | {CAR.HONDA_ACCORD_11G}):
|
||||
# MVL treats CAN-FD low-speed lockout as an expected EPS state too.
|
||||
if self.CP.carFingerprint in HONDA_BOSCH_ALT_RADAR:
|
||||
# TODO: See if this logic works for all other Honda
|
||||
min_steer_speed = max(CarControllerParams.STEER_GLOBAL_MIN_SPEED, self.CP.minSteerSpeed)
|
||||
expected_low_speed_lockout = steer_status == "LOW_SPEED_LOCKOUT" and ret.vEgo < min_steer_speed
|
||||
ret.steerFaultTemporary = steer_status != "NORMAL" and not expected_low_speed_lockout
|
||||
@@ -275,63 +249,6 @@ class CarState(CarStateBase):
|
||||
if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
|
||||
self.lkas_hud = cp_cam.vl["LKAS_HUD"]
|
||||
|
||||
if self.CP.carFingerprint == CAR.HONDA_ACCORD_11G:
|
||||
# Phase replacement radar messages from the stock radar's tick references. CarState reads the
|
||||
# tick in one 100 Hz cycle and CarController transmits on the next, so pulse one frame before
|
||||
# the expected next stock tick.
|
||||
self.radar_ref_counter = cp.vl["RADAR_REFERENCE"]["COUNTER"]
|
||||
|
||||
ref_tick_vals = cp.vl_all.get("RADAR_REFERENCE", {}).get("COUNTER", [])
|
||||
if len(ref_tick_vals) > 0:
|
||||
self.radar_5hz_tick_counter = 0
|
||||
else:
|
||||
self.radar_5hz_tick_counter += 1
|
||||
self.radar_5hz_tick = self.radar_5hz_tick_counter == 11
|
||||
|
||||
supp_tick_vals = cp_radar.vl_all.get("RADAR_SUPP_TICK_REFERENCE", {}).get("IGNORE", [])
|
||||
if len(supp_tick_vals) > 0:
|
||||
self.supp_tick_counter = 0
|
||||
else:
|
||||
self.supp_tick_counter += 1
|
||||
self.supp_tick = self.supp_tick_counter == 99
|
||||
|
||||
hud_tick_vals = cp_radar.vl_all.get("RADAR_HUD_TICK_REFERENCE", {}).get("IGNORE", [])
|
||||
if len(hud_tick_vals) > 0:
|
||||
self.hud_tick_counter = 0
|
||||
else:
|
||||
self.hud_tick_counter += 1
|
||||
self.hud_tick = self.hud_tick_counter == 9
|
||||
|
||||
tick_50hz_vals = cp_radar.vl_all.get("RADAR_50HZ_TICK_REFERENCE", {}).get("IGNORE", [])
|
||||
if len(tick_50hz_vals) > 0:
|
||||
self.radar_50hz_tick_counter = 0
|
||||
else:
|
||||
self.radar_50hz_tick_counter += 1
|
||||
self.radar_50hz_tick = self.radar_50hz_tick_counter == 1
|
||||
|
||||
# ACC_CONTROL is normally present every 2 frames. Keep treating the stock radar as alive until
|
||||
# four consecutive frames have passed without it, preventing overlap between stock and OP ACC.
|
||||
self.canfd_frames += 1
|
||||
if len(cp.vl_all.get("ACC_CONTROL", {}).get("COUNTER", [])) > 0:
|
||||
self.stock_acc_counter = 0
|
||||
else:
|
||||
self.stock_acc_counter += 1
|
||||
self.stock_acc_alive = self.stock_acc_counter < 4
|
||||
|
||||
# Before the relay opens, the camera's STEERING_CONTROL is physically visible on PT. Once the
|
||||
# relay opens it disappears. Fallback to 5 seconds in case the camera frame was never observed.
|
||||
if len(cp.vl_all.get("STEERING_CONTROL", {}).get("COUNTER", [])) > 0:
|
||||
self.camera_steer_counter = 0
|
||||
self.camera_steer_seen = True
|
||||
else:
|
||||
self.camera_steer_counter += 1
|
||||
self.canfd_relay_open = (self.camera_steer_seen and self.camera_steer_counter >= 5) or self.canfd_frames >= 500
|
||||
else:
|
||||
self.supp_tick = False
|
||||
self.hud_tick = False
|
||||
self.radar_5hz_tick = False
|
||||
self.radar_50hz_tick = False
|
||||
|
||||
if self.CP.enableBsm:
|
||||
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
|
||||
# more info here: https://github.com/commaai/openpilot/pull/1867
|
||||
@@ -354,10 +271,6 @@ class CarState(CarStateBase):
|
||||
|
||||
def get_can_parsers(self, CP):
|
||||
pt_messages = [("GAS_SENSOR", 0)] if CP.enableGasInterceptorDEPRECATED else []
|
||||
if CP.carFingerprint == CAR.HONDA_ACCORD_11G:
|
||||
# Both deliberately go silent during the handover, so skip alive/timeout checks.
|
||||
pt_messages += [("ACC_CONTROL", float("nan")), ("STEERING_CONTROL", float("nan"))]
|
||||
|
||||
pt_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt)
|
||||
if CP.enableGasInterceptorDEPRECATED:
|
||||
pt_parser.message_states[0x201].ignore_checksum = True
|
||||
@@ -369,11 +282,5 @@ class CarState(CarStateBase):
|
||||
}
|
||||
if CP.enableBsm:
|
||||
parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], [], CanBus(CP).radar)
|
||||
if CP.carFingerprint == CAR.HONDA_ACCORD_11G:
|
||||
parsers[Bus.radar] = CANParser(DBC[CP.carFingerprint][Bus.radar], [
|
||||
("RADAR_SUPP_TICK_REFERENCE", 0),
|
||||
("RADAR_HUD_TICK_REFERENCE", 0),
|
||||
("RADAR_50HZ_TICK_REFERENCE", 0),
|
||||
], CanBus(CP).radar)
|
||||
|
||||
return parsers
|
||||
|
||||
@@ -1039,8 +1039,6 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'8S102-30A-A050\x00\x00',
|
||||
b'8S102-30A-A060\x00\x00',
|
||||
b'8S102-30A-A070\x00\x00',
|
||||
b'8S102-30A-A080\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CRV_6G: {
|
||||
|
||||
@@ -2,7 +2,6 @@ from opendbc.car import CanBusBase
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.honda.values import (HondaFlags, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_RADARLESS,
|
||||
HONDA_BOSCH_CANFD, CarControllerParams)
|
||||
from opendbc.car.honda.values import CAR
|
||||
|
||||
# CAN bus layout with relay
|
||||
# 0 = ACC-CAN - radar side
|
||||
@@ -71,16 +70,14 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
|
||||
return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
|
||||
|
||||
|
||||
def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None):
|
||||
def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
|
||||
commands = []
|
||||
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
|
||||
|
||||
control_on = 5 if enabled else 0
|
||||
if gas_force is None:
|
||||
gas_force = accel
|
||||
gas_command = gas if active and gas_force > min_gas_accel else -30000
|
||||
gas_command = gas if active and accel > min_gas_accel else -30000
|
||||
accel_command = accel if active else 0
|
||||
braking = 1 if active and gas_force < min_gas_accel else 0
|
||||
braking = 1 if active and accel < min_gas_accel else 0
|
||||
standstill = 1 if active and stopping_counter > 0 else 0
|
||||
standstill_release = 1 if active and stopping_counter == 0 else 0
|
||||
|
||||
@@ -90,7 +87,7 @@ def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_count
|
||||
'STANDSTILL': standstill,
|
||||
}
|
||||
|
||||
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
|
||||
if car_fingerprint in HONDA_BOSCH_RADARLESS:
|
||||
acc_control_values.update({
|
||||
"CONTROL_ON": enabled,
|
||||
"IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz)
|
||||
@@ -150,20 +147,10 @@ def create_acc_hud(packer, bus, CP, enabled, pcm_speed, pcm_accel, hud_control,
|
||||
'SET_ME_X01_2': 1,
|
||||
}
|
||||
|
||||
if CP.carFingerprint == CAR.HONDA_ACCORD_11G:
|
||||
# Stock CAN-FD radar toggles these together with ACC/lead/braking state. Keeping them low when
|
||||
# neither lead nor braking is present matches MVL's observed CAN-FD payload shape.
|
||||
set_me = int(enabled and (bool(acc_hud_values['HUD_LEAD']) or (pcm_accel < 0.2)))
|
||||
acc_hud_values['SET_ME_X01'] = set_me
|
||||
acc_hud_values['SET_ME_X01_2'] = set_me
|
||||
|
||||
if CP.carFingerprint in HONDA_BOSCH:
|
||||
acc_hud_values['ACC_ON'] = int(enabled)
|
||||
# Preserve StarPilot's existing Bosch HUD behavior outside CAN-FD. MVL's CAN-FD
|
||||
# replacement radar expects FCW/CMBS enabled, while legacy Bosch keeps them off.
|
||||
canfd = CP.carFingerprint == CAR.HONDA_ACCORD_11G
|
||||
acc_hud_values['FCM_OFF'] = 0 if canfd else 1
|
||||
acc_hud_values['FCM_OFF_2'] = 0 if canfd else 1
|
||||
acc_hud_values['FCM_OFF'] = 1
|
||||
acc_hud_values['FCM_OFF_2'] = 1
|
||||
else:
|
||||
# Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
|
||||
acc_hud_values['ACC_ON'] = int(enabled)
|
||||
@@ -232,104 +219,16 @@ def create_legacy_brake_command(packer, bus):
|
||||
return packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus, {})
|
||||
|
||||
|
||||
def spam_buttons_command(packer, CAN, button_val, car_fingerprint, cruise_setting=0, ambient_light=None, bus=None):
|
||||
def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
|
||||
values = {
|
||||
'CRUISE_BUTTONS': button_val,
|
||||
'CRUISE_SETTING': cruise_setting,
|
||||
'CRUISE_SETTING': 0,
|
||||
}
|
||||
# Existing StarPilot callers should retain their previous payload; only the CAN-FD camera
|
||||
# takeover path explicitly echoes the live ambient-light byte.
|
||||
if ambient_light is not None:
|
||||
values['AMBIENT_LIGHT_MAYBE'] = ambient_light
|
||||
if bus is None:
|
||||
# send buttons to camera on radarless (camera does ACC) cars
|
||||
bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
|
||||
# send buttons to camera on radarless (camera does ACC) cars
|
||||
bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
|
||||
return packer.make_can_msg("SCM_BUTTONS", bus, values)
|
||||
|
||||
|
||||
def create_radar_hud_canfd(packer, bus, acc, acc_pulse=False):
|
||||
values = {
|
||||
'CMBS_ENABLED_MAYBE': 1 if (acc and acc_pulse) else 0,
|
||||
'ACC_ON': acc,
|
||||
'SET_ME_X01': 0x01,
|
||||
'SET_ME_X01_2': 0x01,
|
||||
}
|
||||
return packer.make_can_msg("RADAR_HUD_CANFD", bus, values)
|
||||
|
||||
|
||||
def create_canfd_supplemental(packer, bus):
|
||||
values = {
|
||||
'SET_ME_X01': 0x01,
|
||||
'SET_ME_X41': 0x41,
|
||||
}
|
||||
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_CANFD", bus, values)
|
||||
|
||||
|
||||
RADAR_MUX_BANK_STARTS = (1, 17, 33, 49)
|
||||
PATH_OFFSET_INVALID = 2047
|
||||
# These extended IDs use the CAN-FD checksum offset used by the Accord 11G
|
||||
# replacement-radar stream. Keep the legacy Honda offset for existing high-ID
|
||||
# messages on other Honda platforms.
|
||||
HONDA_CANFD_MVL_CHECKSUM_IDS = frozenset((
|
||||
0x6CD5558, 0x6CD5559, 0xF31AA52, 0xF31AA5C, 0x1A45AA4E,
|
||||
))
|
||||
|
||||
|
||||
def _lane_path_offsets(radar_mux):
|
||||
pos = next((radar_mux - start for start in RADAR_MUX_BANK_STARTS if start <= radar_mux <= start + 9), 0)
|
||||
if pos == 0:
|
||||
return (0, 0, 0, 0)
|
||||
if pos == 1:
|
||||
return (0, 0, PATH_OFFSET_INVALID, PATH_OFFSET_INVALID)
|
||||
return (PATH_OFFSET_INVALID,) * 4
|
||||
|
||||
|
||||
def create_canfd_50hz_radar_messages(packer, bus, radar_mux):
|
||||
offsets = _lane_path_offsets(radar_mux)
|
||||
lane_path_values = {
|
||||
'MUX': radar_mux,
|
||||
'PATH_OFFSET_1': offsets[0],
|
||||
'PATH_OFFSET_2': offsets[1],
|
||||
'PATH_OFFSET_3': offsets[2],
|
||||
'PATH_OFFSET_4': offsets[3],
|
||||
}
|
||||
hud_objects_values = {
|
||||
'MUX': radar_mux,
|
||||
'OBJECT_ID': 0,
|
||||
'IS_LEAD_CAR': 0,
|
||||
'CAR_TYPE': -1,
|
||||
'ROTATION': -128,
|
||||
'LONG_DIST': 196.9,
|
||||
'LAT_DIST': 204.7,
|
||||
}
|
||||
return [
|
||||
packer.make_can_msg('LANE_PATH', bus, lane_path_values),
|
||||
packer.make_can_msg('HUD_OBJECTS', bus, hud_objects_values),
|
||||
]
|
||||
|
||||
|
||||
def create_canfd_5hz_radar_messages(packer, bus, radar_ref_cntr):
|
||||
radar_lead_values = {
|
||||
'CNTR_REF': radar_ref_cntr,
|
||||
'SET_ME_X01': 0x01,
|
||||
'TARGET_SPEED_MAYBE': 140,
|
||||
# v3 initially sends MVL's stock-like idle lane state. Model-derived dash rendering can be added
|
||||
# separately after the DTC/ownership handover is proven on-car.
|
||||
'LEFT_LANE': 0,
|
||||
'RIGHT_LANE': 0,
|
||||
'LANE_PATH_LENGTH': 6,
|
||||
}
|
||||
radar_lead2_values = {
|
||||
'SET_ME_X88': 136,
|
||||
'SET_ME_X78': 120,
|
||||
'LEAD_DISTANCE_MAYBE': 0,
|
||||
}
|
||||
return [
|
||||
packer.make_can_msg('RADAR_LEAD', bus, radar_lead_values),
|
||||
packer.make_can_msg('RADAR_LEAD2', bus, radar_lead2_values),
|
||||
]
|
||||
|
||||
|
||||
def honda_checksum(address: int, sig, d: bytearray) -> int:
|
||||
s = 0
|
||||
extended = address > 0x7FF
|
||||
@@ -344,5 +243,5 @@ def honda_checksum(address: int, sig, d: bytearray) -> int:
|
||||
s += (x & 0xF) + (x >> 4)
|
||||
s = 8 - s
|
||||
if extended:
|
||||
s += 10 if address in HONDA_CANFD_MVL_CHECKSUM_IDS else 3
|
||||
s += 3
|
||||
return s & 0xF
|
||||
|
||||
@@ -1,11 +1,10 @@
|
||||
#!/usr/bin/env python3
|
||||
import numpy as np
|
||||
from openpilot.common.params import Params, UnknownKeyName
|
||||
from opendbc.car import get_safety_config, structs, uds
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.disable_ecu import disable_ecu
|
||||
from opendbc.car.honda.hondacan import CanBus
|
||||
from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_A, HONDA_BOSCH_A_RADAR_VERIFIED, HONDA_BOSCH_CANFD, \
|
||||
from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
|
||||
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
|
||||
from opendbc.car.honda.carcontroller import CarController
|
||||
from opendbc.car.honda.carstate import CarState
|
||||
@@ -45,17 +44,7 @@ class CarInterface(CarInterfaceBase):
|
||||
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
|
||||
ret.safetyConfigs = cfgs
|
||||
|
||||
# HONDA_BOSCH_A describes the physical harness family. Radar remains unavailable until the
|
||||
# exact platform is added to HONDA_BOSCH_A_RADAR_VERIFIED after real-capture validation.
|
||||
try:
|
||||
# The explicit default keeps the verified platform usable on installs that have not yet
|
||||
# persisted the internal kill-switch parameter; the verified-platform set remains mandatory.
|
||||
bosch_a_radar_tryout = not docs and Params().get_bool("HondaBoschARadar", default=True)
|
||||
except UnknownKeyName:
|
||||
bosch_a_radar_tryout = False
|
||||
ret.radarUnavailable = not (candidate in HONDA_BOSCH_A and
|
||||
candidate in HONDA_BOSCH_A_RADAR_VERIFIED and
|
||||
bosch_a_radar_tryout)
|
||||
ret.radarUnavailable = True
|
||||
# Disable the radar and let openpilot control longitudinal
|
||||
# WARNING: THIS DISABLES AEB!
|
||||
# If Bosch radarless, this blocks ACC messages from the camera
|
||||
@@ -154,13 +143,9 @@ class CarInterface(CarInterfaceBase):
|
||||
CarControllerParams.BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]
|
||||
|
||||
elif candidate == CAR.HONDA_ACCORD_11G:
|
||||
# MVL Boston sp-honda-dev-202608 tuning (48211d6a63).
|
||||
ret.longitudinalActuatorDelay = 0.05
|
||||
ret.steerActuatorDelay = 0.3
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 12789], [0, 12789]]
|
||||
ret.lateralTuning.pid.kf = 0.000035
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.115], [0.052]]
|
||||
CarControllerParams.BOSCH_GAS_LOOKUP_BP = [0.0, 2.0]
|
||||
ret.steerActuatorDelay = 0.22
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 5200], [0, 2560, 12747]]
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.ACURA_ILX:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
|
||||
@@ -329,8 +314,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
|
||||
if candidate in HONDA_BOSCH_CANFD:
|
||||
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value
|
||||
if candidate == CAR.HONDA_ACCORD_11G:
|
||||
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD_MVL.value
|
||||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
|
||||
@@ -362,13 +345,6 @@ class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def init(CP, can_recv, can_send, communication_control=None):
|
||||
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
|
||||
# CAN-FD radar ownership is handed over only after the comma relay is confirmed open.
|
||||
# Disabling the radar here can create a gap before panda enters the Honda safety mode and
|
||||
# replacement ACC_CONTROL is permitted, which can latch CRUISE_FAULT/DTCs in the brake module.
|
||||
# deinit() still passes an explicit enable request and therefore falls through to disable_ecu.
|
||||
if CP.carFingerprint == CAR.HONDA_ACCORD_11G and communication_control is None:
|
||||
return
|
||||
|
||||
# 0x80 silences response
|
||||
if communication_control is None:
|
||||
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
|
||||
|
||||
@@ -1,13 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
from collections import deque
|
||||
from dataclasses import dataclass, field
|
||||
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.honda.hondacan import CanBus
|
||||
from opendbc.car.honda.values import DBC
|
||||
from opendbc.car.interfaces import RadarInterfaceBase
|
||||
from opendbc.car.honda.values import DBC
|
||||
|
||||
|
||||
def _create_nidec_can_parser(car_fingerprint):
|
||||
@@ -16,615 +11,39 @@ def _create_nidec_can_parser(car_fingerprint):
|
||||
return CANParser(DBC[car_fingerprint][Bus.radar], messages, 1)
|
||||
|
||||
|
||||
# ============================================================================
|
||||
# Honda Bosch-A 16-slot object bank
|
||||
# ============================================================================
|
||||
# 16 CAN-visible object slots. Each slot has 4 main frames (f0..f3, one CAN ID each -- NOT sub-frames
|
||||
# muxed onto a shared ID) plus one synchronized auxiliary 5th frame. This supersedes any prior model of
|
||||
# 0x280/0x284/0x288/0x28C as pieces of one object, or of 0x2C8/0x2C9 as a separate "coarse" list: it is
|
||||
# ONE 16-slot bank with one auxiliary frame per slot. See honda_bosch_a_radar.dbc for the bit geometry.
|
||||
BOSCH_A_DBC_NAME = 'honda_bosch_a_radar'
|
||||
BOSCH_A_NUM_SLOTS = 16
|
||||
|
||||
|
||||
def _bosch_a_main_base(slot: int) -> int:
|
||||
return 0x280 + 4 * slot if slot < 4 else 0x2D0 + 4 * (slot - 4)
|
||||
|
||||
|
||||
def _bosch_a_aux_id(slot: int) -> int:
|
||||
return 0x2C8 + slot if slot < 8 else 0x290 + (slot - 8)
|
||||
|
||||
|
||||
BOSCH_A_MAIN_IDS = [[_bosch_a_main_base(s) + i for i in range(4)] for s in range(BOSCH_A_NUM_SLOTS)]
|
||||
BOSCH_A_AUX_IDS = [_bosch_a_aux_id(s) for s in range(BOSCH_A_NUM_SLOTS)]
|
||||
BOSCH_A_ALL_IDS = [addr for ids in BOSCH_A_MAIN_IDS for addr in ids] + BOSCH_A_AUX_IDS
|
||||
|
||||
# Publish RadarPoints when the last MAIN object frame arrives. Passive captures prove that slot 15's
|
||||
# companion frame, 0x297, follows 0x2FF and is the final observed object-family frame in a full sweep:
|
||||
#
|
||||
# ... 0x2FC, 0x2FD, 0x2FE, 0x2FF, 0x297
|
||||
#
|
||||
# Keep 0x2FF as the RadarPoint trigger while the companion data remains optional/debug-only. Making
|
||||
# 0x297 the sole trigger would allow one dropped auxiliary frame to suppress an otherwise-valid point
|
||||
# update, contrary to the parser's "aux never gates validity" contract.
|
||||
BOSCH_A_TRIGGER_MSG = BOSCH_A_MAIN_IDS[BOSCH_A_NUM_SLOTS - 1][3]
|
||||
BOSCH_A_SWEEP_END_MSG = BOSCH_A_AUX_IDS[BOSCH_A_NUM_SLOTS - 1] # 0x297
|
||||
|
||||
# Observed coherent Bosch-A sweep cadence is ~14.5-16 Hz in the available captures.
|
||||
BOSCH_A_FREQ_HZ = 15
|
||||
|
||||
# Range: f0 raw_range (12-bit, B2:B3 high nibble) -> meters. Firmware q16 = 8*raw_range; physical
|
||||
# calibration keeps slope/offset as named, replay-refinable constants (do not add a second radar/camera
|
||||
# longitudinal offset on top of this).
|
||||
BOSCH_A_RANGE_SCALE_M = 0.05712
|
||||
BOSCH_A_RANGE_OFFSET_M = -3.0
|
||||
|
||||
# Azimuth: f0 raw_angle (11-bit, B4:B5 high 3 bits), offset-binary about 1024.
|
||||
#
|
||||
# The f3 angular-edge pair independently closes the exact center-angle scale:
|
||||
# azimuth_rad = (raw_angle - 1024) / 2048
|
||||
#
|
||||
# This supersedes the older empirical 0.032 deg/count fit.
|
||||
BOSCH_A_AZIMUTH_SCALE_RAD = 1.0 / 2048.0
|
||||
BOSCH_A_AZIMUTH_CENTER = 1024
|
||||
|
||||
# Invalid sentinels (section 3/4/5/6 of the spec).
|
||||
BOSCH_A_STATUS_INVALID = 0xF
|
||||
BOSCH_A_RANGE_RAW_INVALID = 0xFFF
|
||||
BOSCH_A_ANGLE_RAW_INVALID = 0x7FF
|
||||
BOSCH_A_LIFE_INVALID = 0xFFF
|
||||
BOSCH_A_TRACK_ID_MIN = 1
|
||||
BOSCH_A_TRACK_ID_MAX = 0x3F
|
||||
# AUX logical 0x00CA has an explicit 0x3FF invalid sentinel. Firmware proves the normalization below;
|
||||
# captures strongly support interpreting the active value as previous/current range ratio.
|
||||
BOSCH_A_RANGE_RATIO_INVALID = 0x3FF
|
||||
BOSCH_A_LOGICAL_00CA_INVALID = BOSCH_A_RANGE_RATIO_INVALID # compatibility/debug alias
|
||||
BOSCH_A_RANGE_RATIO_SCALE = 0.001
|
||||
BOSCH_A_RANGE_RATIO_OFFSET = 0.5
|
||||
|
||||
# The synchronized AUX frame contains an 11-bit offset-binary velocity-like field and a 10-bit
|
||||
# companion quality/uncertainty field. The byte locations are now decoded in the DBC. The exact
|
||||
# Bosch descriptor name is still being verified, so keep the conversion constants isolated here.
|
||||
# Capture validation shows active values in [0, 1728], with 0x7FE used as the inactive sentinel.
|
||||
BOSCH_A_DIRECT_VREL_INVALID = 0x7FE
|
||||
BOSCH_A_DIRECT_VREL_MIN_RAW = 0
|
||||
BOSCH_A_DIRECT_VREL_MAX_RAW = 1728
|
||||
BOSCH_A_DIRECT_VREL_CENTER_RAW = 864
|
||||
BOSCH_A_DIRECT_VREL_SCALE_MPS = 1.0 / 64.0
|
||||
# Empirical raw-quality policy. U11 error against an independent range-derivative reference rises
|
||||
# with u10 in a graded way, not a cliff: replay evidence bins it roughly as 0-255 clean, 256-511 only
|
||||
# mildly degraded, 512-767 clearly degraded, 768+ worst. 511 is set at that mild/clear boundary so
|
||||
# U11 is still trusted directly through the mildly-degraded band; only u10 above this triggers the
|
||||
# high-u10 coast path below. This is deliberately not presented as a Bosch physical unit or
|
||||
# descriptor constant; it keeps saturated/high-uncertainty AUX values from becoming authoritative
|
||||
# velocity measurements.
|
||||
BOSCH_A_DIRECT_VREL_MAX_UNCERTAINTY_RAW = 511
|
||||
|
||||
# Measurement-authority policy. These are replay-derived safety/tuning gates, not recovered Bosch
|
||||
# constants. Range innovation is measured from the previous accepted observation so a reset cannot
|
||||
# become the baseline for following sweeps.
|
||||
BOSCH_A_RANGE_SIGMA_DEGRADED_RAW = 4
|
||||
BOSCH_A_RANGE_INNOVATION_MAX_M = 2.0
|
||||
BOSCH_A_RANGE_INNOVATION_HARD_MAX_M = 5.0
|
||||
BOSCH_A_FALLBACK_RANGE_RATE_MAX_MPS = 50.0
|
||||
BOSCH_A_USE_TAN_LATERAL_PROJECTION = True
|
||||
|
||||
# Accepted-range history is retained for continuity and the adjacent two-point fallback. Rejected
|
||||
# range resets never enter it, and it is not used for a multi-sample OLS velocity fit.
|
||||
BOSCH_A_VREL_MAX_SAMPLES = 8
|
||||
|
||||
# Staleness gate -- TUNING constant, reused plumbing pattern (not a firmware fact). At the observed
|
||||
# ~15 Hz cadence, 0.20 s is approximately three missed sweeps.
|
||||
BOSCH_A_STALE_S = 0.20
|
||||
|
||||
|
||||
@dataclass
|
||||
class _BoschASlotState:
|
||||
last_seen_nanos: int | None = None
|
||||
|
||||
# Firmware logical-ID companion data -- telemetry/debug only for now, never a RadarPoint validity
|
||||
# gate. 0x00C9 has a firmware transform but no proven physical meaning; 0x00CA has an explicit
|
||||
# invalid sentinel and its physical meaning remains unresolved.
|
||||
logical_00c9_raw: float = float('nan')
|
||||
logical_00ca_raw: float = float('nan')
|
||||
direct_vrel_raw: int | None = None
|
||||
direct_vrel_uncertainty_raw: int | None = None
|
||||
|
||||
def reset(self):
|
||||
self.last_seen_nanos = None
|
||||
self.logical_00c9_raw = float('nan')
|
||||
self.logical_00ca_raw = float('nan')
|
||||
self.direct_vrel_raw = None
|
||||
self.direct_vrel_uncertainty_raw = None
|
||||
|
||||
|
||||
@dataclass
|
||||
class _BoschATrackState:
|
||||
"""Persistent state for one Bosch CAN object identity, independent of wire slot."""
|
||||
track_id: int
|
||||
prev_frame_idx: int | None = None
|
||||
prev_life: int | None = None
|
||||
last_seen_nanos: int | None = None
|
||||
wire_slot: int | None = None
|
||||
samples: deque = field(default_factory=lambda: deque(maxlen=BOSCH_A_VREL_MAX_SAMPLES))
|
||||
last_trusted_vrel: float | None = None
|
||||
last_trusted_vrel_nanos: int | None = None
|
||||
|
||||
|
||||
def _bosch_a_direct_vrel(raw_value: int | float | None,
|
||||
uncertainty_raw: int | float | None = None) -> float | None:
|
||||
"""Decode the capture-validated AUX relative-velocity candidate.
|
||||
|
||||
None means that AUX was absent/invalid and the caller should use the existing fallback policy. The [0, 1728]
|
||||
active domain is deliberately enforced here because values above the observed +13.5 m/s rail have
|
||||
not appeared on active objects; 0x7FE is the observed inactive sentinel.
|
||||
"""
|
||||
if raw_value is None:
|
||||
return None
|
||||
raw = int(raw_value)
|
||||
if raw == BOSCH_A_DIRECT_VREL_INVALID:
|
||||
return None
|
||||
if not BOSCH_A_DIRECT_VREL_MIN_RAW <= raw <= BOSCH_A_DIRECT_VREL_MAX_RAW:
|
||||
return None
|
||||
# u10 is retained as a raw quality indicator because its physical units remain unresolved. The
|
||||
# conservative threshold is evidence-backed tuning, not a recovered firmware validity rule.
|
||||
if uncertainty_raw is not None and int(uncertainty_raw) > BOSCH_A_DIRECT_VREL_MAX_UNCERTAINTY_RAW:
|
||||
return None
|
||||
return (raw - BOSCH_A_DIRECT_VREL_CENTER_RAW) * BOSCH_A_DIRECT_VREL_SCALE_MPS
|
||||
|
||||
|
||||
def _bosch_a_range_ratio(raw_value: int | float | None) -> float | None:
|
||||
if raw_value is None:
|
||||
return None
|
||||
raw = int(raw_value)
|
||||
if raw == BOSCH_A_RANGE_RATIO_INVALID or not 0 <= raw < BOSCH_A_RANGE_RATIO_INVALID:
|
||||
return None
|
||||
return BOSCH_A_RANGE_RATIO_OFFSET + BOSCH_A_RANGE_RATIO_SCALE * raw
|
||||
|
||||
|
||||
def _bosch_a_range_ratio_vrel(raw_value: int | float | None, d_rel: float, dt: float) -> float | None:
|
||||
"""Return the range rate implied by the empirical previous/current range ratio."""
|
||||
ratio = _bosch_a_range_ratio(raw_value)
|
||||
if ratio is None or dt <= 0.0 or not math.isfinite(d_rel):
|
||||
return None
|
||||
return d_rel * (1.0 - ratio) / dt
|
||||
|
||||
|
||||
def _bosch_a_measurement_degraded(range_sigma_raw: int, existence_raw: int,
|
||||
direct_vrel_uncertainty_raw: int | None) -> bool:
|
||||
range_quality_bad = range_sigma_raw >= BOSCH_A_RANGE_SIGMA_DEGRADED_RAW or existence_raw in (0, 0x7F)
|
||||
velocity_quality_bad = (direct_vrel_uncertainty_raw is not None and
|
||||
direct_vrel_uncertainty_raw > BOSCH_A_DIRECT_VREL_MAX_UNCERTAINTY_RAW)
|
||||
return range_quality_bad or velocity_quality_bad
|
||||
|
||||
|
||||
def _create_bosch_a_can_parser(CP):
|
||||
messages = [(addr, BOSCH_A_FREQ_HZ) for addr in BOSCH_A_ALL_IDS]
|
||||
# Bus.radar selects the Bosch-A DBC; the object/fusion feed itself is
|
||||
# physically on the camera-side ACC-CAN.
|
||||
return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, CanBus(CP).camera)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.track_id = 0
|
||||
self.radar_fault = False
|
||||
self.radar_wrong_config = False
|
||||
self.radar_off_can = CP.radarUnavailable
|
||||
self.bosch_a_radar = (not self.radar_off_can and Bus.radar in DBC[CP.carFingerprint] and
|
||||
DBC[CP.carFingerprint][Bus.radar] == BOSCH_A_DBC_NAME)
|
||||
|
||||
# Nidec
|
||||
if self.radar_off_can:
|
||||
self.rcp = None
|
||||
self.trigger_msg = 0x445
|
||||
elif self.bosch_a_radar:
|
||||
self.rcp = _create_bosch_a_can_parser(CP)
|
||||
self.trigger_msg = BOSCH_A_TRIGGER_MSG
|
||||
self._slots = [_BoschASlotState() for _ in range(BOSCH_A_NUM_SLOTS)]
|
||||
self._tracks: dict[int, _BoschATrackState] = {}
|
||||
self._slot_track_ids: list[int | None] = [None] * BOSCH_A_NUM_SLOTS
|
||||
self._last_trigger_nanos = -1
|
||||
else:
|
||||
# Nidec
|
||||
self.rcp = _create_nidec_can_parser(CP.carFingerprint)
|
||||
self.trigger_msg = 0x445
|
||||
self.track_id = 0
|
||||
self.radar_fault = False
|
||||
self.radar_wrong_config = False
|
||||
|
||||
self.trigger_msg = 0x445
|
||||
self.updated_messages = set()
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.radar_off_can or self.rcp is None:
|
||||
# in Bosch radar and we are only steering for now, so sleep 0.05s to keep
|
||||
# radard at 20Hz and return no points
|
||||
if self.radar_off_can:
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
if self.bosch_a_radar and self._last_trigger_nanos >= 0:
|
||||
now = self.rcp._last_update_nanos
|
||||
if (now - self._last_trigger_nanos) * 1e-9 > BOSCH_A_STALE_S:
|
||||
return self._bosch_a_stale_radardata()
|
||||
return None
|
||||
|
||||
rr = self._update(self.updated_messages)
|
||||
self.updated_messages.clear()
|
||||
return rr
|
||||
|
||||
def _bosch_a_stale_radardata(self):
|
||||
# Whole-bus silence: clear every live point/history and emit an EMPTY RadarData (not None) so
|
||||
# radard drops any lead within a cycle instead of freezing a phantom. The next observation starts
|
||||
# a fresh incarnation for its CAN identity.
|
||||
self.pts.clear()
|
||||
self._tracks.clear()
|
||||
self._slot_track_ids = [None] * BOSCH_A_NUM_SLOTS
|
||||
for slot_state in self._slots:
|
||||
slot_state.reset()
|
||||
self._last_trigger_nanos = -1
|
||||
stale = structs.RadarData()
|
||||
if not self.rcp.can_valid:
|
||||
stale.errors.canError = True
|
||||
stale.errors.radarUnavailableTemporary = True
|
||||
return stale
|
||||
|
||||
def _bosch_a_retire_track(self, track_id: int):
|
||||
self._tracks.pop(track_id, None)
|
||||
self.pts.pop(track_id, None)
|
||||
for slot, slot_track_id in enumerate(self._slot_track_ids):
|
||||
if slot_track_id == track_id:
|
||||
self._slot_track_ids[slot] = None
|
||||
|
||||
def _bosch_a_retire_stale_tracks(self, now: int):
|
||||
for track_id, track in list(self._tracks.items()):
|
||||
if track.last_seen_nanos is not None and (now - track.last_seen_nanos) * 1e-9 > BOSCH_A_STALE_S:
|
||||
self._bosch_a_retire_track(track_id)
|
||||
|
||||
def _update(self, updated_messages):
|
||||
if self.bosch_a_radar:
|
||||
return self._update_bosch_a(updated_messages)
|
||||
return self._update_nidec(updated_messages)
|
||||
|
||||
def _update_bosch_a(self, updated_messages):
|
||||
ret = structs.RadarData()
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
|
||||
now = self.rcp._last_update_nanos
|
||||
self._last_trigger_nanos = now
|
||||
self._bosch_a_retire_stale_tracks(now)
|
||||
|
||||
observations = []
|
||||
|
||||
for slot in range(BOSCH_A_NUM_SLOTS):
|
||||
f0, f1, f2, f3 = BOSCH_A_MAIN_IDS[slot]
|
||||
aux = BOSCH_A_AUX_IDS[slot]
|
||||
st = self._slots[slot]
|
||||
|
||||
if not (f0 in updated_messages and f1 in updated_messages and
|
||||
f2 in updated_messages and f3 in updated_messages):
|
||||
# Incomplete main-frame set: a missing CAN frame must not be treated as a lifecycle mismatch or
|
||||
# death/replacement. Logical tracks are retired independently by their global staleness gate.
|
||||
continue
|
||||
|
||||
v0 = self.rcp.vl[f0]
|
||||
v1 = self.rcp.vl[f1]
|
||||
v2 = self.rcp.vl[f2]
|
||||
v3 = self.rcp.vl[f3]
|
||||
|
||||
idx0 = int(v0['FRAME_IDX'])
|
||||
if not (idx0 == int(v1['FRAME_IDX']) == int(v2['FRAME_IDX']) == int(v3['FRAME_IDX'])):
|
||||
# The four main frames don't share a common cycle index -- not a coherent observation this
|
||||
# window. Only combine main-frame data from a coherent common frame index (section 2).
|
||||
continue
|
||||
|
||||
status = int(v0['STATUS'])
|
||||
range_raw = int(v0['RANGE_RAW'])
|
||||
angle_raw = int(v0['AZIMUTH_RAW'])
|
||||
range_sigma_raw = int(v0['RANGE_SIGMA_RAW'])
|
||||
existence_raw = int(v1['OBJECT_EXISTENCE_PROBABILITY_RAW'])
|
||||
life = int(v2['LIFECYCLE_RAW'])
|
||||
track_id = int(v3['TRACK_ID'])
|
||||
track_id_valid = BOSCH_A_TRACK_ID_MIN <= track_id <= BOSCH_A_TRACK_ID_MAX
|
||||
st.last_seen_nanos = now
|
||||
direct_vrel_raw = None
|
||||
direct_vrel_uncertainty_raw = None
|
||||
range_ratio_raw = None
|
||||
|
||||
# Attach synchronized companion data only when its cycle matches. Missing AUX never invalidates
|
||||
# an otherwise coherent F0-F3 object; it only removes independent motion/quality evidence.
|
||||
if aux in updated_messages:
|
||||
av = self.rcp.vl[aux]
|
||||
if int(av['FRAME_IDX']) == idx0:
|
||||
direct_vrel_raw = int(av['REL_VELOCITY_RAW'])
|
||||
direct_vrel_uncertainty_raw = int(av['REL_VELOCITY_UNCERTAINTY_RAW'])
|
||||
range_ratio_raw = int(av['RANGE_RATIO_RAW'])
|
||||
logical_00c9_raw = av['FW_LID_00C9_RAW']
|
||||
logical_00ca_raw = av['FW_LID_00CA_RAW']
|
||||
st.logical_00c9_raw = logical_00c9_raw
|
||||
st.logical_00ca_raw = (
|
||||
logical_00ca_raw if logical_00ca_raw != BOSCH_A_LOGICAL_00CA_INVALID else float('nan')
|
||||
)
|
||||
st.direct_vrel_raw = direct_vrel_raw
|
||||
st.direct_vrel_uncertainty_raw = direct_vrel_uncertainty_raw
|
||||
|
||||
object_valid = (status != BOSCH_A_STATUS_INVALID and range_raw != BOSCH_A_RANGE_RAW_INVALID and
|
||||
angle_raw != BOSCH_A_ANGLE_RAW_INVALID and life != BOSCH_A_LIFE_INVALID)
|
||||
|
||||
observations.append({
|
||||
'slot': slot,
|
||||
'frame_idx': idx0,
|
||||
'life': life,
|
||||
'track_id': track_id,
|
||||
'track_id_valid': track_id_valid,
|
||||
'object_valid': object_valid,
|
||||
'range_sigma_raw': range_sigma_raw,
|
||||
'existence_raw': existence_raw,
|
||||
'direct_vrel_raw': direct_vrel_raw,
|
||||
'direct_vrel_uncertainty_raw': direct_vrel_uncertainty_raw,
|
||||
'range_ratio_raw': range_ratio_raw,
|
||||
})
|
||||
|
||||
# First collapse duplicate wire observations of one CAN identity. The dictionary is also the
|
||||
# output uniqueness boundary: one valid Bosch identity can never create two RadarPoints.
|
||||
valid_by_id = {}
|
||||
for observation in observations:
|
||||
if not (observation['object_valid'] and observation['track_id_valid']):
|
||||
# An invalid observation ends publication for the object currently occupying this wire slot,
|
||||
# but it does not immediately destroy the persistent state. The object may be multiplexed to
|
||||
# another slot or may return before the per-identity stale deadline; a later lifecycle break
|
||||
# or staleness expiry will clear its derivative history.
|
||||
ids_to_hide = {self._slot_track_ids[observation['slot']]}
|
||||
if observation['track_id_valid']:
|
||||
ids_to_hide.add(observation['track_id'])
|
||||
for invalid_id in ids_to_hide - {None}:
|
||||
self.pts.pop(invalid_id, None)
|
||||
continue
|
||||
track_id = observation['track_id']
|
||||
current = valid_by_id.get(track_id)
|
||||
if current is None:
|
||||
valid_by_id[track_id] = observation
|
||||
continue
|
||||
|
||||
# Prefer the wire slot currently associated with the persistent state. If neither candidate is
|
||||
# preferred, retain the lower slot for deterministic handling of a malformed duplicate frame.
|
||||
track = self._tracks.get(track_id)
|
||||
current_score = (0 if track is not None and track.wire_slot == current['slot'] else 1, current['slot'])
|
||||
candidate_score = (0 if track is not None and track.wire_slot == observation['slot'] else 1,
|
||||
observation['slot'])
|
||||
if candidate_score < current_score:
|
||||
valid_by_id[track_id] = observation
|
||||
|
||||
valid_ids = set(valid_by_id)
|
||||
for track_id, observation in sorted(valid_by_id.items(), key=lambda item: item[1]['slot']):
|
||||
slot = observation['slot']
|
||||
idx0 = observation['frame_idx']
|
||||
life = observation['life']
|
||||
|
||||
# A wire-slot replacement ends publication for the old occupant, but not its persistent
|
||||
# identity/history. If the old ID is still valid in another slot this sweep, keep its point;
|
||||
# otherwise hide it until that ID returns or reaches its own stale deadline.
|
||||
old_id = self._slot_track_ids[slot]
|
||||
if old_id is not None and old_id != track_id and old_id not in valid_ids:
|
||||
self.pts.pop(old_id, None)
|
||||
|
||||
track = self._tracks.get(track_id)
|
||||
if track is None:
|
||||
track = _BoschATrackState(track_id=track_id)
|
||||
self._tracks[track_id] = track
|
||||
|
||||
same_incarnation = False
|
||||
if track.prev_frame_idx is not None and track.prev_life is not None:
|
||||
frame_delta = (idx0 - track.prev_frame_idx) & 0xF
|
||||
life_delta = (life - track.prev_life) & 0xFFF
|
||||
same_incarnation = life_delta == 2 * frame_delta
|
||||
|
||||
if not same_incarnation:
|
||||
# The CAN identity remains the externally-visible key, but a lifecycle discontinuity starts a
|
||||
# new incarnation and must not inherit the previous object's range-rate history.
|
||||
track.samples.clear()
|
||||
track.last_trusted_vrel = None
|
||||
track.last_trusted_vrel_nanos = None
|
||||
self.pts.pop(track_id, None)
|
||||
|
||||
v0 = self.rcp.vl[BOSCH_A_MAIN_IDS[slot][0]]
|
||||
range_raw = int(v0['RANGE_RAW'])
|
||||
angle_raw = int(v0['AZIMUTH_RAW'])
|
||||
dRel = BOSCH_A_RANGE_SCALE_M * range_raw + BOSCH_A_RANGE_OFFSET_M
|
||||
azimuth_rad = BOSCH_A_AZIMUTH_SCALE_RAD * (angle_raw - BOSCH_A_AZIMUTH_CENTER)
|
||||
# The firmware's internal geometry path uses tan(angle) for a forward-axis distance. The
|
||||
# Bosch object range is consumed as that forward-axis quantity here, so use the same projection
|
||||
# rather than treating it as radial/slant range. Keep the switch explicit while the final
|
||||
# output bridge remains under static review.
|
||||
#
|
||||
# Sign: AZIMUTH_RAW > center (positive azimuth_rad) is a LEFT-of-center detection in car frame's
|
||||
# y axis (left is positive), matching the Nidec RadarPoint.yRel contract. Confirmed against real
|
||||
# captures 2026-08-22: a stationary cluster of queued vehicles visible on the left in the road
|
||||
# camera was rendering on the right in both the Qt and raylib radar-track overlays with the
|
||||
# previously-flipped sign.
|
||||
lateral_projection = math.tan if BOSCH_A_USE_TAN_LATERAL_PROJECTION else math.sin
|
||||
yRel = dRel * lateral_projection(azimuth_rad)
|
||||
|
||||
now_s = now * 1e-9
|
||||
direct_vrel_raw = observation['direct_vrel_raw']
|
||||
direct_vrel_uncertainty_raw = observation['direct_vrel_uncertainty_raw']
|
||||
direct_vrel = _bosch_a_direct_vrel(direct_vrel_raw, direct_vrel_uncertainty_raw)
|
||||
live_direct_vrel = _bosch_a_direct_vrel(direct_vrel_raw)
|
||||
range_ratio_raw = observation['range_ratio_raw']
|
||||
|
||||
# A live U11 rejected solely by the conservative U10 qualification threshold is neither an
|
||||
# unavailable velocity nor permission to synthesize a one-sweep range derivative. It is also
|
||||
# NOT permission to skip range-innovation checking below: u10 correlates with range_sigma in
|
||||
# replay data, so a high-u10 sweep is exactly the condition where a bad/discontinuous range
|
||||
# (slot migration, reset) is most likely, not less likely. Range acceptance is therefore
|
||||
# decided on the same terms as every other sweep first; only once the range clears that gate
|
||||
# does a high-u10 U11 fall back to coasting instead of publishing a synthesized derivative.
|
||||
high_u10_live_vrel = (direct_vrel is None and live_direct_vrel is not None and
|
||||
direct_vrel_uncertainty_raw is not None and
|
||||
direct_vrel_uncertainty_raw > BOSCH_A_DIRECT_VREL_MAX_UNCERTAINTY_RAW)
|
||||
|
||||
# Validate against the previous accepted range. Qualified U11 and the range-ratio field are
|
||||
# independent corroboration paths; high-U10 U11 is deliberately excluded from this decision.
|
||||
previous_sample = track.samples[-1] if track.samples else None
|
||||
fallback_vrel = 0.0
|
||||
ratio_vrel = None
|
||||
range_rejected = False
|
||||
degraded = _bosch_a_measurement_degraded(
|
||||
observation['range_sigma_raw'], observation['existence_raw'], direct_vrel_uncertainty_raw,
|
||||
)
|
||||
if previous_sample is not None:
|
||||
previous_time, previous_range = previous_sample
|
||||
dt = now_s - previous_time
|
||||
if dt <= 0.0:
|
||||
range_rejected = True
|
||||
else:
|
||||
fallback_vrel = (dRel - previous_range) / dt
|
||||
ratio = _bosch_a_range_ratio(range_ratio_raw)
|
||||
ratio_vrel = _bosch_a_range_ratio_vrel(range_ratio_raw, dRel, dt)
|
||||
|
||||
residuals_m = []
|
||||
if direct_vrel is not None:
|
||||
residuals_m.append(abs(dRel - (previous_range + direct_vrel * dt)))
|
||||
if ratio is not None:
|
||||
residuals_m.append(abs(previous_range - dRel * ratio))
|
||||
|
||||
if residuals_m:
|
||||
innovation_m = min(residuals_m)
|
||||
range_rejected = (
|
||||
innovation_m > BOSCH_A_RANGE_INNOVATION_HARD_MAX_M or
|
||||
(degraded and innovation_m > BOSCH_A_RANGE_INNOVATION_MAX_M)
|
||||
)
|
||||
else:
|
||||
range_rejected = abs(fallback_vrel) > BOSCH_A_FALLBACK_RANGE_RATE_MAX_MPS
|
||||
|
||||
if range_rejected:
|
||||
# Keep the last accepted point briefly as an unmeasured coast. The rejected geometry is not
|
||||
# published and never becomes the baseline for a later derivative.
|
||||
accepted_fresh = previous_sample is not None and now_s - previous_sample[0] <= BOSCH_A_STALE_S
|
||||
point = self.pts.get(track_id)
|
||||
if accepted_fresh and point is not None:
|
||||
point.measured = False
|
||||
else:
|
||||
self.pts.pop(track_id, None)
|
||||
track.prev_frame_idx = idx0
|
||||
track.prev_life = life
|
||||
track.last_seen_nanos = now
|
||||
track.wire_slot = slot
|
||||
for old_slot, old_id in enumerate(self._slot_track_ids):
|
||||
if old_slot != slot and old_id == track_id:
|
||||
self._slot_track_ids[old_slot] = None
|
||||
self._slot_track_ids[slot] = track_id
|
||||
continue
|
||||
|
||||
if high_u10_live_vrel:
|
||||
# The range cleared innovation checking above, so geometry here is trustworthy; only vRel is
|
||||
# in question. Preserve current geometry but coast only a recent authoritative motion
|
||||
# estimate without a KF update, rather than publishing a one-sweep-derivative synthesis.
|
||||
trusted_fresh = (track.last_trusted_vrel is not None and track.last_trusted_vrel_nanos is not None and
|
||||
(now - track.last_trusted_vrel_nanos) * 1e-9 <= BOSCH_A_STALE_S)
|
||||
if trusted_fresh:
|
||||
point = self.pts.get(track_id)
|
||||
if point is not None:
|
||||
point.dRel = dRel
|
||||
point.yRel = yRel
|
||||
point.vRel = track.last_trusted_vrel
|
||||
point.measured = False
|
||||
else:
|
||||
track.last_trusted_vrel = None
|
||||
track.last_trusted_vrel_nanos = None
|
||||
self.pts.pop(track_id, None)
|
||||
|
||||
# Do not let a coast-only range observation become a future derivative baseline.
|
||||
track.prev_frame_idx = idx0
|
||||
track.prev_life = life
|
||||
track.last_seen_nanos = now
|
||||
track.wire_slot = slot
|
||||
for old_slot, old_id in enumerate(self._slot_track_ids):
|
||||
if old_slot != slot and old_id == track_id:
|
||||
self._slot_track_ids[old_slot] = None
|
||||
self._slot_track_ids[slot] = track_id
|
||||
continue
|
||||
|
||||
# Native U11 is unavailable here (sentinel/out-of-range -- the high-u10-but-live case above
|
||||
# already returned before this point) and the range-ratio field is unusable or degraded too.
|
||||
# The remaining option is the raw one-sweep (dRel-previous_range)/dt derivative, which is
|
||||
# structurally the same hazard the high-u10 case guards against: a synthesized rate becoming an
|
||||
# authoritative measurement. Coast a recent trusted velocity instead, on the same terms as above,
|
||||
# rather than publish it.
|
||||
# A true birth observation (no previous accepted range yet) can never mature into a published
|
||||
# point this cycle regardless of vRel source -- `matured` below requires a second sample -- so
|
||||
# only intercept once a fallback derivative would actually have something to poison.
|
||||
u11_and_ratio_unavailable = (direct_vrel is None and (ratio_vrel is None or degraded) and
|
||||
previous_sample is not None)
|
||||
if u11_and_ratio_unavailable:
|
||||
trusted_fresh = (track.last_trusted_vrel is not None and track.last_trusted_vrel_nanos is not None and
|
||||
(now - track.last_trusted_vrel_nanos) * 1e-9 <= BOSCH_A_STALE_S)
|
||||
if trusted_fresh:
|
||||
point = self.pts.get(track_id)
|
||||
if point is not None:
|
||||
point.dRel = dRel
|
||||
point.yRel = yRel
|
||||
point.vRel = track.last_trusted_vrel
|
||||
point.measured = False
|
||||
else:
|
||||
track.last_trusted_vrel = None
|
||||
track.last_trusted_vrel_nanos = None
|
||||
self.pts.pop(track_id, None)
|
||||
|
||||
# Do not let a coast-only range observation become a future derivative baseline.
|
||||
track.prev_frame_idx = idx0
|
||||
track.prev_life = life
|
||||
track.last_seen_nanos = now
|
||||
track.wire_slot = slot
|
||||
for old_slot, old_id in enumerate(self._slot_track_ids):
|
||||
if old_slot != slot and old_id == track_id:
|
||||
self._slot_track_ids[old_slot] = None
|
||||
self._slot_track_ids[slot] = track_id
|
||||
continue
|
||||
|
||||
track.samples.append((now_s, dRel))
|
||||
sample_count = len(track.samples)
|
||||
|
||||
# Prefer qualified native U11; otherwise the range-ratio field. The raw one-sweep derivative is
|
||||
# never published as a measurement -- see the coast/drop branch above, which intercepts before
|
||||
# this point whenever neither native U11 nor the ratio field is usable.
|
||||
if direct_vrel is not None:
|
||||
vRel = direct_vrel
|
||||
else:
|
||||
vRel = ratio_vrel
|
||||
trustworthy_vrel = True
|
||||
|
||||
# A birth observation has no range-rate yet. Keep it as history, but do not publish a RadarPoint
|
||||
# until a second coherent observation of the same CAN identity supplies a finite derivative.
|
||||
matured = sample_count >= 2 and math.isfinite(vRel)
|
||||
if trustworthy_vrel:
|
||||
track.last_trusted_vrel = vRel
|
||||
track.last_trusted_vrel_nanos = now
|
||||
if matured and track_id not in self.pts:
|
||||
self.pts[track_id] = structs.RadarData.RadarPoint()
|
||||
self.pts[track_id].trackId = track_id
|
||||
self.pts[track_id].aRel = float('nan')
|
||||
self.pts[track_id].yvRel = float('nan')
|
||||
|
||||
if matured:
|
||||
self.pts[track_id].dRel = dRel
|
||||
self.pts[track_id].yRel = yRel
|
||||
self.pts[track_id].vRel = vRel
|
||||
self.pts[track_id].measured = True
|
||||
else:
|
||||
self.pts.pop(track_id, None)
|
||||
|
||||
track.prev_frame_idx = idx0
|
||||
track.prev_life = life
|
||||
track.last_seen_nanos = now
|
||||
track.wire_slot = slot
|
||||
for old_slot, old_id in enumerate(self._slot_track_ids):
|
||||
if old_slot != slot and old_id == track_id:
|
||||
self._slot_track_ids[old_slot] = None
|
||||
self._slot_track_ids[slot] = track_id
|
||||
|
||||
ret.points = [self.pts[track_id] for track_id in sorted(self.pts)]
|
||||
return ret
|
||||
|
||||
def _update_nidec(self, updated_messages):
|
||||
ret = structs.RadarData()
|
||||
|
||||
for ii in sorted(updated_messages):
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -2,7 +2,7 @@ import re
|
||||
from types import SimpleNamespace
|
||||
import pytest
|
||||
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car import gen_empty_fingerprint
|
||||
from opendbc.car.honda.interface import CarInterface
|
||||
@@ -196,16 +196,6 @@ class TestHondaFingerprint:
|
||||
assert CP.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_CANFD
|
||||
assert CP.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_LONG
|
||||
|
||||
def test_mvl_handover_is_scoped_to_accord_11g(self):
|
||||
toggles = get_test_toggles()
|
||||
accord_cp = CarInterface.get_params(CAR.HONDA_ACCORD_11G, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
crv_cp = CarInterface.get_params(CAR.HONDA_CRV_6G, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
|
||||
assert Bus.radar in DBC[accord_cp.carFingerprint]
|
||||
assert Bus.radar not in DBC[crv_cp.carFingerprint]
|
||||
assert accord_cp.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_CANFD_MVL
|
||||
assert not crv_cp.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_CANFD_MVL
|
||||
|
||||
def test_nidec_pedal_detection_enables_interceptor_path(self):
|
||||
toggles = get_test_toggles()
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
|
||||
@@ -57,9 +57,6 @@ class HondaSafetyFlags(IntFlag):
|
||||
RADARLESS = 8
|
||||
BOSCH_CANFD = 16
|
||||
GAS_INTERCEPTOR = 32
|
||||
# Accord 11G MVL radar/camera handover messages. Keep the generic CAN-FD
|
||||
# safety profile unchanged for other Honda CAN-FD platforms (for example CR-V 6G).
|
||||
BOSCH_CANFD_MVL = 64
|
||||
|
||||
|
||||
class HondaFlags(IntFlag):
|
||||
@@ -120,17 +117,11 @@ class HondaCarDocs(CarDocs):
|
||||
|
||||
self.car_parts = CarParts.common([harness])
|
||||
|
||||
if CP.alphaLongitudinalAvailable:
|
||||
self.footnotes.append(Footnote.EXP_LONG)
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
CIVIC_DIESEL = CarFootnote(
|
||||
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
|
||||
Column.FSR_STEERING)
|
||||
EXP_LONG = CarFootnote(
|
||||
"Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW.",
|
||||
Column.LONGITUDINAL)
|
||||
|
||||
|
||||
@dataclass
|
||||
@@ -171,12 +162,7 @@ class CAR(Platforms):
|
||||
HondaCarDocs("Honda N-Box 2018", "All", min_steer_speed=5.),
|
||||
],
|
||||
CarSpecs(mass=890., wheelbase=2.520, steerRatio=18.64),
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'acura_rdx_2020_can_generated'},
|
||||
)
|
||||
HONDA_ACCORD = HondaBoschPlatformConfig(
|
||||
[
|
||||
@@ -186,21 +172,15 @@ class CAR(Platforms):
|
||||
],
|
||||
# steerRatio: 11.82 is spec end-to-end
|
||||
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||
flags=HondaFlags.ALLOW_MANUAL_TRANS,
|
||||
)
|
||||
HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda Accord 2023-25", "All"),
|
||||
HondaCarDocs("Honda Accord Hybrid 2023-25", "All"),
|
||||
],
|
||||
CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.7, centerToFrontRatio=0.39),
|
||||
{Bus.pt: 'honda_common_canfd_generated', Bus.radar: 'honda_common_canfd_generated'},
|
||||
],
|
||||
CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.0, centerToFrontRatio=0.39),
|
||||
)
|
||||
HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
|
||||
[
|
||||
@@ -210,22 +190,12 @@ class CAR(Platforms):
|
||||
HondaCarDocs("Honda Civic Hatchback 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
],
|
||||
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||
)
|
||||
HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
|
||||
[], # don't show in docs
|
||||
HONDA_CIVIC_BOSCH.specs,
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||
)
|
||||
HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
|
||||
[
|
||||
@@ -244,12 +214,7 @@ class CAR(Platforms):
|
||||
[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=15. * CV.MPH_TO_MS)],
|
||||
# steerRatio: 12.3 is spec end-to-end
|
||||
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated'},
|
||||
flags=HondaFlags.BOSCH_ALT_BRAKE,
|
||||
)
|
||||
HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
|
||||
@@ -263,12 +228,7 @@ class CAR(Platforms):
|
||||
[HondaCarDocs("Honda CR-V Hybrid 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
|
||||
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||
)
|
||||
HONDA_HRV_3G = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Honda HR-V 2023-25", "All")],
|
||||
@@ -285,12 +245,7 @@ class CAR(Platforms):
|
||||
ACURA_RDX_3G = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'acura_rdx_2020_can_generated'},
|
||||
flags=HondaFlags.BOSCH_ALT_BRAKE,
|
||||
)
|
||||
ACURA_RDX_3G_MMR = HondaBoschPlatformConfig(
|
||||
@@ -302,32 +257,17 @@ class CAR(Platforms):
|
||||
HONDA_INSIGHT = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'honda_insight_ex_2019_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'honda_insight_ex_2019_can_generated'},
|
||||
)
|
||||
HONDA_E = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'acura_rdx_2020_can_generated'},
|
||||
)
|
||||
HONDA_E_ADVANCE = HondaBoschPlatformConfig(
|
||||
[], # don't show in docs, base trim already in docs
|
||||
CarSpecs(mass=1527, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
|
||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
||||
# RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
|
||||
# stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
|
||||
# functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
|
||||
# CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
|
||||
{Bus.pt: 'honda_e_advance_2020_can_generated', Bus.radar: 'honda_bosch_a_radar'},
|
||||
{Bus.pt: 'honda_e_advance_2020_can_generated'},
|
||||
)
|
||||
HONDA_PILOT_4G = HondaBoschCANFDPlatformConfig(
|
||||
[HondaCarDocs("Honda Pilot 2023-25", "All")],
|
||||
@@ -528,15 +468,6 @@ HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
|
||||
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
|
||||
HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
|
||||
HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
|
||||
# Plain bosch_a harness: not CANFD, not radarless, not alt-radar. These platforms have a firmware-correct
|
||||
# RadarInterface (16-slot Bosch-A object bank, RX-only, see radar_interface.py) available behind
|
||||
# HondaBoschARadar. This describes hardware compatibility only; it is deliberately separate from the
|
||||
# verified set below so a newly supported model cannot start using unvalidated radar data by accident.
|
||||
HONDA_BOSCH_A = HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD - HONDA_BOSCH_ALT_RADAR
|
||||
# Add individual CAR entries only after the exact platform has a real capture and decoder replay
|
||||
# validation. The Civic and CR-V 5G captures both exercise the plain Bosch-A object bank; every
|
||||
# other Bosch-A variant remains disabled until it gets the same verification.
|
||||
HONDA_BOSCH_A_RADAR_VERIFIED = frozenset({CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G})
|
||||
HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
|
||||
HONDA_CAMERA_MESSAGE_CARS = {
|
||||
CAR.HONDA_ACCORD,
|
||||
|
||||
@@ -9,12 +9,10 @@ from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.hyundai import hyundaicanfd, hyundaican
|
||||
from opendbc.car.hyundai.hyundaicanfd import CanBus
|
||||
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
|
||||
CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
|
||||
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
|
||||
CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.starpilot.common.testing_grounds import testing_ground
|
||||
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
@@ -81,10 +79,7 @@ BLINDSPOT_WARNING_SOUND_SAMPLES = 36
|
||||
|
||||
def egmp_dynamic_longitudinal_tuning(CP) -> bool:
|
||||
return CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE) or \
|
||||
kia_ev6_gt_line_longitudinal_tuning(
|
||||
CP.carFingerprint, getattr(CP, "carVin", ""),
|
||||
testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
|
||||
)
|
||||
kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", ""))
|
||||
|
||||
|
||||
def get_canfd_scc_decel_step(CP) -> float:
|
||||
@@ -92,10 +87,7 @@ def get_canfd_scc_decel_step(CP) -> float:
|
||||
|
||||
|
||||
def should_reset_ev6_gt_line_longitudinal_tuning(CP, long_control_state: LongCtrlState) -> bool:
|
||||
return kia_ev6_gt_line_longitudinal_tuning(
|
||||
CP.carFingerprint, getattr(CP, "carVin", ""),
|
||||
testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
|
||||
) and \
|
||||
return kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", "")) and \
|
||||
long_control_state == LongCtrlState.off
|
||||
|
||||
|
||||
@@ -639,10 +631,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
|
||||
actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
|
||||
is_ev6_gt_line = kia_ev6_gt_line_longitudinal_tuning(
|
||||
self.CP.carFingerprint, getattr(self.CP, "carVin", ""),
|
||||
testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
|
||||
)
|
||||
is_ev6_gt_line = kia_ev6_gt_line_longitudinal_tuning(self.CP.carFingerprint, getattr(self.CP, "carVin", ""))
|
||||
is_ccnc_angle_long = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR
|
||||
if is_ccnc_angle_long and (self._ev9_long_tuning.stop_request or not CC.enabled or CC.cruiseControl.override):
|
||||
self._ioniq_6_long_tuning = reset_egmp_longitudinal_tuning(self._ioniq_6_long_tuning)
|
||||
@@ -732,25 +721,15 @@ class CarController(CarControllerBase):
|
||||
def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC, lka_icon, lfa_icon):
|
||||
can_sends = []
|
||||
can_canfd_blended = bool(self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
|
||||
blended_hda2 = can_canfd_blended and bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
|
||||
|
||||
# HUD messages
|
||||
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
|
||||
hud_control)
|
||||
|
||||
if blended_hda2:
|
||||
if can_canfd_blended and self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||
can_sends.extend(hyundaicanfd.create_steering_messages(
|
||||
self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
|
||||
))
|
||||
if self.long_active_ecu:
|
||||
can_sends.extend(hyundaican.create_lkas11_can_canfd_blended(
|
||||
self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
|
||||
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
|
||||
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
|
||||
left_lane_warning, right_lane_warning, CS.msg_364,
|
||||
include_alerts=False,
|
||||
counter_mod=0xF,
|
||||
))
|
||||
if self.frame % 5 == 0:
|
||||
can_sends.append(hyundaicanfd.create_suppress_lfa(
|
||||
self.packer, self.CAN, CS.lfa_block_msg, False,
|
||||
@@ -781,23 +760,13 @@ class CarController(CarControllerBase):
|
||||
can_sends.extend(self._create_can_redneck_button_messages(CS))
|
||||
|
||||
if self.long_active_ecu and can_canfd_blended:
|
||||
if blended_hda2:
|
||||
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame, blended_hda2=True))
|
||||
can_sends.extend(hyundaican.create_radar_aux_messages(self.packer, self.CAN, self.frame, hda2=blended_hda2))
|
||||
can_sends.extend(hyundaican.create_radar_aux_messages(self.packer, self.CAN, self.frame))
|
||||
|
||||
if self.frame % 2 == 0 and self.long_active_ecu:
|
||||
# TODO: unclear if this is needed
|
||||
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
|
||||
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
|
||||
main_cruise_enabled = getattr(CS, "main_cruise_on", False) if getattr(CS, "main_cruise_tracking", False) else True
|
||||
if blended_hda2:
|
||||
stopping = stopping and CS.out.vEgoRaw < 0.1
|
||||
can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended_hda2(
|
||||
self.packer, CC.enabled, accel, self.accel_last, jerk, int(self.frame / 2), hud_control,
|
||||
set_speed_in_units, stopping, CC.cruiseControl.override, use_fca, self.CP,
|
||||
))
|
||||
self.accel_last = accel
|
||||
elif can_canfd_blended:
|
||||
if can_canfd_blended:
|
||||
can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended(self.packer, CC.enabled, accel, jerk,
|
||||
int(self.frame / 2), hud_control,
|
||||
set_speed_in_units, stopping,
|
||||
@@ -805,11 +774,10 @@ class CarController(CarControllerBase):
|
||||
else:
|
||||
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
|
||||
hud_control, set_speed_in_units, stopping,
|
||||
CC.cruiseControl.override, use_fca, self.CP,
|
||||
main_cruise_enabled))
|
||||
CC.cruiseControl.override, use_fca, self.CP))
|
||||
|
||||
# 20 Hz LFA MFA message
|
||||
if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.SEND_LFA.value or (self.long_active_ecu and blended_hda2)):
|
||||
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
|
||||
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.frame, self.CP, lfa_icon))
|
||||
|
||||
# 5 Hz ACC options
|
||||
@@ -868,7 +836,14 @@ class CarController(CarControllerBase):
|
||||
steering_msg_active, apply_torque, apply_angle,
|
||||
CS.stock_lfa_msg if preserve_stock_lfa_status else None,
|
||||
CS.stock_lkas_msg if preserve_stock_lkas else None,
|
||||
lka_icon=lka_icon))
|
||||
lka_icon=lka_icon,
|
||||
send_lfa_status=self.ecu_disable_failed and
|
||||
self.CP.carFingerprint == CAR.KIA_EV9))
|
||||
elif self.ecu_disable_failed and self.CP.carFingerprint == CAR.KIA_EV9:
|
||||
can_sends.extend(hyundaicanfd.create_steering_messages(
|
||||
self.packer, self.CP, self.CAN, CC.enabled, False, 0.0, 0.0,
|
||||
CS.stock_lfa_msg, lka_icon=lka_icon, send_lfa_status=True, lfa_only=True,
|
||||
))
|
||||
direct_steering_active = ccnc_angle_long and drive_gear and CC.latActive and self.direct_angle_request_allowed and not CS.angle_steering_fault
|
||||
inactive_steering_angle = float(np.clip(CS.angle_steering_angle,
|
||||
-self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
|
||||
@@ -1042,13 +1017,9 @@ class CarController(CarControllerBase):
|
||||
|
||||
# cruise standstill resume
|
||||
elif CC.cruiseControl.resume:
|
||||
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and self.CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
|
||||
for _ in range(20):
|
||||
can_sends.append(hyundaicanfd.create_buttons(
|
||||
self.packer, self.CP, self.CAN, (CS.buttons_counter + 1) % 0x100,
|
||||
Buttons.RES_ACCEL, base_values=CS.cruise_buttons_msg,
|
||||
))
|
||||
self.last_button_frame = self.frame
|
||||
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
|
||||
# TODO: resume for alt button cars
|
||||
pass
|
||||
else:
|
||||
for _ in range(20):
|
||||
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.RES_ACCEL))
|
||||
|
||||
@@ -9,7 +9,6 @@ from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.hyundai.hyundaicanfd import CanBus
|
||||
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
|
||||
CANFD_ANGLE_LONGITUDINAL_CAR, CANFD_CORNER_RADAR_BSM_CAR, \
|
||||
CANFD_ALT_BUTTONS_RESUME_CAR, \
|
||||
hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS, ALT_BUS_LDA_BUTTON_SWL_STAT_CARS
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
|
||||
@@ -29,11 +28,6 @@ IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
|
||||
CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
|
||||
ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS = int(1.3e9)
|
||||
|
||||
CLASSIC_MEDIA_BUTTON_CARS = frozenset({
|
||||
CAR.HYUNDAI_ELANTRA_2024,
|
||||
CAR.HYUNDAI_ELANTRA_HEV_2024,
|
||||
})
|
||||
|
||||
|
||||
def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
|
||||
if CP.flags & HyundaiFlags.EV:
|
||||
@@ -133,7 +127,6 @@ class CarState(CarStateBase):
|
||||
self.is_metric = False
|
||||
self.buttons_counter = 0
|
||||
self.main_cruise_on = False
|
||||
self.main_cruise_tracking = bool(getattr(FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
|
||||
|
||||
self.cruise_info = {}
|
||||
self.msg_161 = {}
|
||||
@@ -240,9 +233,7 @@ class CarState(CarStateBase):
|
||||
return button_events
|
||||
|
||||
def create_lkas_button_events(self, cp: CANParser, prev_lda_button: int) -> list[structs.CarState.ButtonEvent]:
|
||||
if self.CP.carFingerprint == CAR.HYUNDAI_SONATA:
|
||||
self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"]) if cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0 else 0
|
||||
elif self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
|
||||
if self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
|
||||
self.lda_button = self.get_sonata_hybrid_lkas_button_state(cp)
|
||||
else:
|
||||
source_states = (
|
||||
@@ -434,6 +425,9 @@ class CarState(CarStateBase):
|
||||
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
|
||||
*lkas_button_events]
|
||||
|
||||
if getattr(self.FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING:
|
||||
ret.cruiseState.available = self.update_main_cruise(ret)
|
||||
|
||||
ret.blockPcmEnable = not self.recent_button_interaction()
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
@@ -444,9 +438,6 @@ class CarState(CarStateBase):
|
||||
ret.lowSpeedAlert = self.low_speed_alert
|
||||
|
||||
fp_ret = custom.StarPilotCarState.new_message()
|
||||
if self.CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
|
||||
fp_ret.modePressed = bool(cp.vl["GW_SWRC_PE"]["C_ModeSW"])
|
||||
fp_ret.customPressed = bool(cp.vl["GW_SWRC_PE"]["C_MTSSW"])
|
||||
|
||||
return ret, fp_ret
|
||||
|
||||
@@ -560,9 +551,7 @@ class CarState(CarStateBase):
|
||||
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
|
||||
self.lda_button = cp.vl[self.cruise_btns_msg_canfd]["LDA_BTN"]
|
||||
self.left_paddle = 0
|
||||
if self.CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
|
||||
self.cruise_buttons_msg = copy.copy(cp.vl[self.cruise_btns_msg_canfd])
|
||||
elif self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
|
||||
if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
|
||||
self.cruise_buttons_msg = copy.copy(cp.vl["CRUISE_BUTTONS"])
|
||||
self.left_paddle = cp.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"]
|
||||
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
|
||||
@@ -595,7 +584,7 @@ class CarState(CarStateBase):
|
||||
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
|
||||
*create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas}),
|
||||
*create_button_events(self.left_paddle, prev_left_paddle, {1: ButtonType.altButton2})]
|
||||
if self.CP.openpilotLongitudinalControl and (self.CP.carFingerprint == CAR.KIA_EV9 or self.main_cruise_tracking):
|
||||
if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint == CAR.KIA_EV9:
|
||||
ret.cruiseState.available = self.update_main_cruise(ret)
|
||||
|
||||
ret.blockPcmEnable = not self.recent_button_interaction()
|
||||
@@ -622,9 +611,7 @@ class CarState(CarStateBase):
|
||||
def get_can_parsers_canfd(self, CP):
|
||||
msgs = []
|
||||
cam_msgs = []
|
||||
if CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
|
||||
msgs.append(("CRUISE_BUTTONS_ALT", 50))
|
||||
elif not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
|
||||
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
|
||||
# The EV9 can stop publishing this during the non-ECU-disabled startup
|
||||
# state. Keep decoding it when present without making CAN invalid.
|
||||
msgs += [
|
||||
@@ -681,7 +668,7 @@ class CarState(CarStateBase):
|
||||
("CGW2", 5),
|
||||
("WHL_SPD11", 50),
|
||||
("SAS11", 100),
|
||||
("SCC12", 0 if CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CANFD_LKA_STEERING else 50),
|
||||
("SCC12", 50),
|
||||
("EMS12", 100),
|
||||
("EMS16", 100),
|
||||
("LVR12", 100),
|
||||
@@ -700,9 +687,6 @@ class CarState(CarStateBase):
|
||||
("BCM_PO_11", 0),
|
||||
("CLU13", 0),
|
||||
]
|
||||
if CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
|
||||
# Steering-wheel media switches are event-driven on the refresh Elantra.
|
||||
msgs.append(("GW_SWRC_PE", 0))
|
||||
if CP.flags & HyundaiFlags.NON_SCC and not (CP.flags & HyundaiFlags.NON_SCC_NO_FCA):
|
||||
msgs.append(("FCA11", 0)) # Non-SCC trims can stop publishing FCA11; don't let it poison canValid
|
||||
|
||||
|
||||
@@ -1402,14 +1402,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00JK__ RDR ----- 1.00 1.01 99110-DS500 ',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_GV70_2026: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00JK MFC AT USA LHD 1.00 1.11 99211-IY600 241125',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JK__ RDR ----- 1.00 1.01 99110-AR600 ',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_GV80_2025: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JX__ RDR ----- 1.00 1.03 99110-T6500 ',
|
||||
|
||||
@@ -106,8 +106,7 @@ def create_checksum_can_canfd_blended(packer, bus, addr, values):
|
||||
def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
|
||||
torque_fault, lkas11, sys_warning, sys_state, enabled,
|
||||
left_lane, right_lane,
|
||||
left_lane_depart, right_lane_depart, msg_364,
|
||||
include_alerts=True, counter_mod=0x10):
|
||||
left_lane_depart, right_lane_depart, msg_364):
|
||||
bus = CanBus(CP).ECAN
|
||||
values = {
|
||||
"CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
|
||||
@@ -117,7 +116,7 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
|
||||
"CR_Lkas_StrToqReq": apply_steer,
|
||||
"CF_Lkas_ActToi": steer_req,
|
||||
"CF_Lkas_ToiFlt": torque_fault,
|
||||
"CF_Lkas_MsgCount": frame % counter_mod,
|
||||
"CF_Lkas_MsgCount": frame % 0x10,
|
||||
"NEW_SIGNAL_1": 0,
|
||||
"NEW_SIGNAL_5": 100,
|
||||
}
|
||||
@@ -131,13 +130,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
|
||||
alerts_364.setdefault("BYTE5", 0)
|
||||
alerts_364.setdefault("BYTE6", 0)
|
||||
alerts_364.setdefault("BYTE7", 0)
|
||||
alerts_364["COUNTER"] = frame % counter_mod
|
||||
alerts_364["COUNTER"] = frame % 0x10
|
||||
alerts_364["CHECKSUM"] = create_checksum_can_canfd_blended(packer, bus, "ALERTS_364", alerts_364)
|
||||
|
||||
ret = [packer.make_can_msg("LKAS11", bus, values)]
|
||||
if include_alerts:
|
||||
ret.append(packer.make_can_msg("ALERTS_364", bus, alerts_364))
|
||||
return ret
|
||||
return [
|
||||
packer.make_can_msg("LKAS11", bus, values),
|
||||
packer.make_can_msg("ALERTS_364", bus, alerts_364),
|
||||
]
|
||||
|
||||
|
||||
def create_clu11(packer, frame, clu11, button, CP):
|
||||
@@ -234,62 +233,11 @@ def create_acc_commands_can_canfd_blended(packer, enabled, accel, upper_jerk, id
|
||||
return commands
|
||||
|
||||
|
||||
def create_acc_commands_can_canfd_blended_hda2(packer, enabled, accel, accel_last, upper_jerk, idx,
|
||||
hud_control, set_speed, stopping, long_override, use_fca, CP):
|
||||
commands = []
|
||||
bus = CanBus(CP).ECAN
|
||||
jerk = 5.0
|
||||
|
||||
if not enabled or long_override:
|
||||
accel_raw, accel_value = 0.0, 0.0
|
||||
else:
|
||||
accel_raw = accel
|
||||
accel_value = max(accel_last - jerk / 50.0, min(accel, accel_last + jerk / 50.0))
|
||||
|
||||
message_values = [
|
||||
("SCC11", {
|
||||
"aReqRaw": accel_raw,
|
||||
"aReqValue": accel_value,
|
||||
"JerkUpperLimit": upper_jerk,
|
||||
"JerkLowerLimit": jerk if enabled else 1.0,
|
||||
}),
|
||||
("SCC12", {
|
||||
"MainMode_ACC": 1,
|
||||
"ACCMode_Inactive": 0 if enabled else 1,
|
||||
"TauGapSet": hud_control.leadDistanceBars,
|
||||
"VSetDis": set_speed,
|
||||
"ACC_ObjDist": 1,
|
||||
"ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
|
||||
"StopReq": 1 if stopping else 0,
|
||||
}),
|
||||
("SCC14", {
|
||||
"ACC_ObjRelSpd": 0,
|
||||
"ObjValid": 0,
|
||||
"ObjStatus": 2 if hud_control.leadVisible and enabled else 1 if hud_control.leadVisible else 0,
|
||||
}),
|
||||
]
|
||||
|
||||
if use_fca and not (CP.flags & HyundaiFlags.CAMERA_SCC):
|
||||
# These values reproduce the stock status bytes without requesting AEB/FCA actuation.
|
||||
message_values.append(("FCA11", {
|
||||
"cr_vsm_deccmd": 255,
|
||||
"cf_vsm_deccmdact": 0,
|
||||
}))
|
||||
|
||||
for name, values in message_values:
|
||||
values["COUNTER"] = idx % 0xF
|
||||
values["CHECKSUM"] = create_checksum_can_canfd_blended(packer, bus, name, values)
|
||||
commands.append(packer.make_can_msg(name, bus, values))
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP,
|
||||
main_cruise_enabled=True):
|
||||
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
|
||||
commands = []
|
||||
|
||||
scc11_values = {
|
||||
"MainMode_ACC": int(bool(main_cruise_enabled)),
|
||||
"MainMode_ACC": 1,
|
||||
"TauGapSet": hud_control.leadDistanceBars,
|
||||
"VSetDis": set_speed if enabled else 0,
|
||||
"AliveCounterACC": idx % 0x10,
|
||||
@@ -376,27 +324,17 @@ def create_frt_radar_opt(packer):
|
||||
return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)
|
||||
|
||||
|
||||
def create_radar_aux_messages(packer, CAN, frame, hda2=False):
|
||||
def create_radar_aux_messages(packer, CAN, frame):
|
||||
commands = []
|
||||
|
||||
message_specs = (
|
||||
("RADAR_0x363", 2, {"FCA_ESA": 1}),
|
||||
("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x5D}),
|
||||
("RADAR_0x399", 5, {"BYTE2": 0x02}),
|
||||
("RADAR_0x39a", 5, {"BYTE7": 0xFF}),
|
||||
("RADAR_0x39b", 5, {}),
|
||||
("RADAR_0x39c", 5, {"BYTE5": 0xE0, "BYTE6": 0x79}),
|
||||
("RADAR_0x43a", 20, {"BYTE2": 0x07}),
|
||||
) if hda2 else (
|
||||
for addr, freq, values in (
|
||||
("RADAR_0x363", 2, {"FCA_ESA": 1}),
|
||||
("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x10}),
|
||||
)
|
||||
|
||||
for addr, freq, values in message_specs:
|
||||
):
|
||||
if frame % freq != 0:
|
||||
continue
|
||||
|
||||
msg_values = values | {"COUNTER": frame % (0xF if hda2 else 0x10)}
|
||||
msg_values = values | {"COUNTER": frame % 0x10}
|
||||
msg_values["CHECKSUM"] = create_checksum_can_canfd_blended(packer, CAN.ECAN, addr, msg_values)
|
||||
commands.append(packer.make_can_msg(addr, CAN.ECAN, msg_values))
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ import numpy as np
|
||||
from opendbc.car import CanBusBase, CanData
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.crc import CRC16_XMODEM
|
||||
from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR
|
||||
from opendbc.car.hyundai.values import HyundaiFlags, CAR
|
||||
|
||||
|
||||
def _set_value(msg: bytearray, sig, ival: int) -> None:
|
||||
@@ -152,14 +152,17 @@ def create_angle_adas_cmd(packer, CAN, apply_angle: float, lat_active: bool, tor
|
||||
|
||||
|
||||
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle,
|
||||
lfa_base_values=None, lkas_base_values=None, lka_icon=None):
|
||||
lfa_base_values=None, lkas_base_values=None, lka_icon=None,
|
||||
send_lfa_status=False, lfa_only=False):
|
||||
if lka_icon is None:
|
||||
lka_icon = 2 if enabled else 1
|
||||
|
||||
if CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||
ret = []
|
||||
if CP.openpilotLongitudinalControl:
|
||||
if CP.openpilotLongitudinalControl or send_lfa_status:
|
||||
ret.append(_create_gv70_lka_status_msg(packer, CAN, "LFA", CAN.ECAN, enabled, lat_active, apply_torque))
|
||||
if lfa_only:
|
||||
return ret
|
||||
ret.append(_create_gv70_lka_status_msg(packer, CAN, "LKAS", CAN.ACAN, enabled, lat_active, apply_torque))
|
||||
return ret
|
||||
|
||||
@@ -255,8 +258,10 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
|
||||
ret = []
|
||||
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
|
||||
if CP.openpilotLongitudinalControl and not CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
|
||||
if CP.openpilotLongitudinalControl or send_lfa_status:
|
||||
ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
|
||||
if lfa_only:
|
||||
return ret
|
||||
ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
|
||||
else:
|
||||
if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
|
||||
@@ -306,27 +311,16 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
|
||||
|
||||
|
||||
def create_buttons(packer, CP, CAN, cnt, btn=0, base_values=None, left_paddle=False, right_paddle=False):
|
||||
values = {k: v for k, v in base_values.items() if k not in ("CHECKSUM", "_CHECKSUM", "COUNTER")} if base_values else {}
|
||||
values = {k: v for k, v in base_values.items() if k not in ("_CHECKSUM", "COUNTER")} if base_values else {}
|
||||
values.update({
|
||||
"COUNTER": cnt,
|
||||
"SET_ME_1": 1,
|
||||
"CRUISE_BUTTONS": btn,
|
||||
"LEFT_PADDLE": int(left_paddle),
|
||||
"RIGHT_PADDLE": int(right_paddle),
|
||||
})
|
||||
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR):
|
||||
values.update({
|
||||
"LEFT_PADDLE": int(left_paddle),
|
||||
"RIGHT_PADDLE": int(right_paddle),
|
||||
})
|
||||
|
||||
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else CAN.CAM
|
||||
if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
|
||||
address, dat, bus = packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
|
||||
dat = bytearray(dat)
|
||||
checksum = hkg_can_fd_checksum(address, None, dat)
|
||||
dat[0] = checksum & 0xFF
|
||||
dat[1] = (checksum >> 8) & 0xFF
|
||||
return address, bytes(dat), bus
|
||||
|
||||
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
|
||||
|
||||
|
||||
@@ -826,7 +820,7 @@ def create_fca_warning_light(packer, CAN, frame):
|
||||
return ret
|
||||
|
||||
|
||||
def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
|
||||
def create_adrv_messages(packer, CAN, frame):
|
||||
# messages needed to car happy after disabling
|
||||
# the ADAS Driving ECU to do longitudinal control
|
||||
|
||||
@@ -836,9 +830,6 @@ def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
|
||||
|
||||
if blended_hda2:
|
||||
return ret
|
||||
|
||||
ret.extend(create_fca_warning_light(packer, CAN, frame))
|
||||
|
||||
if frame % 5 == 0:
|
||||
|
||||
@@ -9,18 +9,15 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
|
||||
RADAR_LIVE_LONGITUDINAL_CAR, \
|
||||
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
|
||||
LEGACY_LONGITUDINAL_CAR, \
|
||||
CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR, \
|
||||
HyundaiStarPilotSafetyFlags, \
|
||||
hyundai_cancel_button_enables_cruise, \
|
||||
kia_ev6_gt_line_longitudinal_tuning, \
|
||||
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
|
||||
kia_ev6_gt_line_longitudinal_tuning
|
||||
from opendbc.car.hyundai.radar_interface import get_radar_track_config, radar_tracks_available
|
||||
from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
|
||||
from opendbc.car.disable_ecu import disable_ecu, ecu_log
|
||||
from opendbc.car.hyundai.carcontroller import CarController
|
||||
from opendbc.car.hyundai.carstate import CarState
|
||||
from opendbc.car.hyundai.radar_interface import RadarInterface
|
||||
from openpilot.starpilot.common.testing_grounds import testing_ground
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
Ecu = structs.CarParams.Ecu
|
||||
@@ -31,7 +28,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
|
||||
# Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
|
||||
ECU_DISABLE_TIMESTAMP = 0.0
|
||||
KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
|
||||
KIA_EV9_ACCEL_MAX = 2.2
|
||||
KIA_EV9_ACCEL_MAX = 2.5
|
||||
|
||||
|
||||
def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
|
||||
@@ -108,8 +105,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def apply_post_fingerprint_params(CP: structs.CarParams, candidate, fingerprint, car_fw) -> None:
|
||||
gt_line_testing_ground = testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID)
|
||||
if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin, gt_line_testing_ground):
|
||||
if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin):
|
||||
apply_kia_ev6_gt_line_longitudinal_params(CP)
|
||||
|
||||
@staticmethod
|
||||
@@ -203,8 +199,7 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
# Shared configuration for non CAN-FD cars
|
||||
ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR or candidate in LEGACY_LONGITUDINAL_CAR
|
||||
if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED and ret.flags & HyundaiFlags.CANFD_LKA_STEERING and \
|
||||
candidate not in CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR:
|
||||
if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED and ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||
ret.alphaLongitudinalAvailable = False
|
||||
ret.enableBsm = 0x58b in fingerprint[CAN.ECAN]
|
||||
|
||||
|
||||
@@ -25,7 +25,7 @@ from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, dec
|
||||
get_canfd_cruise_available
|
||||
from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
|
||||
from opendbc.car.hyundai import hyundaican, hyundaicanfd
|
||||
from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
|
||||
from opendbc.car.hyundai.hyundaicanfd import CanBus
|
||||
from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
|
||||
RADAR_START_ADDR, get_radar_track_config
|
||||
from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, DATELESS_FUZZY_CARS, \
|
||||
@@ -117,7 +117,6 @@ ANGLE_STEERING_CARS = (
|
||||
CAR.KIA_EV6_2025,
|
||||
CAR.KIA_EV9,
|
||||
CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
|
||||
CAR.GENESIS_GV70_2026,
|
||||
CAR.GENESIS_GV80_2025,
|
||||
)
|
||||
|
||||
@@ -523,27 +522,6 @@ class TestHyundaiFingerprint:
|
||||
k4_cp = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], False, False, False, None)
|
||||
assert not (k4_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
|
||||
|
||||
@pytest.mark.parametrize("candidate", (CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN))
|
||||
def test_carnival_hda1_resume_uses_alternate_button_frame(self, candidate):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[0] = {0x1AA: 16}
|
||||
CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
|
||||
assert CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS
|
||||
assert not CP.openpilotLongitudinalControl
|
||||
assert "CRUISE_BUTTONS_ALT" in {
|
||||
state.name for state in CarState(CP, None).get_can_parsers(CP)[Bus.pt].message_states.values()
|
||||
}
|
||||
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
address, dat, bus = hyundaicanfd.create_buttons(
|
||||
packer, CP, CanBus(CP), 0x41, Buttons.RES_ACCEL,
|
||||
base_values={"SET_ME_1": 1, "DISTANCE_UNIT": 0},
|
||||
)
|
||||
assert (address, bus) == (0x1AA, CanBus(CP).CAM)
|
||||
assert dat[2] == 0x41
|
||||
assert (dat[4] >> 4) & 0x7 == Buttons.RES_ACCEL
|
||||
assert int.from_bytes(dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(dat))
|
||||
|
||||
def test_ioniq_6_hda1_layout_stays_non_lka(self):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[1] = {0x100: 8, 0x110: 8}
|
||||
@@ -571,17 +549,14 @@ class TestHyundaiFingerprint:
|
||||
|
||||
assert CP.flags & HyundaiFlags.CAN_CANFD_BLENDED
|
||||
assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
|
||||
assert CP.alphaLongitudinalAvailable
|
||||
assert CP.openpilotLongitudinalControl
|
||||
assert not CP.alphaLongitudinalAvailable
|
||||
assert not CP.openpilotLongitudinalControl
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_CANFD_BLENDED
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_LKA_STEERING
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
|
||||
assert can_bus.ACAN == 0
|
||||
assert can_bus.ECAN == 1
|
||||
assert parsers[Bus.pt].bus == 1
|
||||
assert parsers[Bus.cam].bus == 2
|
||||
scc12_state = next(state for state in parsers[Bus.pt].message_states.values() if state.name == "SCC12")
|
||||
assert scc12_state.frequency == 0
|
||||
assert CarControllerParams(CP).STEER_MAX == 384
|
||||
|
||||
def test_palisade_telluride_hda2_sends_lkas_and_camera_suppression(self):
|
||||
@@ -612,41 +587,6 @@ class TestHyundaiFingerprint:
|
||||
assert (0x2A4, 0) in msg_addrs_buses
|
||||
assert not ({0x340, 0x364} & {addr for addr, _, _ in msgs})
|
||||
|
||||
def test_palisade_telluride_hda2_long_sends_complete_support_set(self):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[2][0x50] = 16
|
||||
fingerprint[1][0x38D] = 8
|
||||
car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
|
||||
CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, fingerprint, car_fw, True, False, False, None)
|
||||
controller = CarController(DBC[CP.carFingerprint], CP)
|
||||
controller.frame = 0
|
||||
|
||||
hud_control = SimpleNamespace(
|
||||
visualAlert=CarControl.HUDControl.VisualAlert.none,
|
||||
leftLaneVisible=True,
|
||||
rightLaneVisible=True,
|
||||
leftLaneDepart=False,
|
||||
rightLaneDepart=False,
|
||||
leadDistanceBars=3,
|
||||
leadVisible=True,
|
||||
)
|
||||
lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 24) if i != 7}
|
||||
lfa_block_msg["COUNTER"] = 0
|
||||
CS = SimpleNamespace(lfa_block_msg=lfa_block_msg, redneck_send_button=Buttons.NONE, lkas11={}, msg_364={},
|
||||
out=SimpleNamespace(vEgoRaw=5.0))
|
||||
CC = SimpleNamespace(enabled=True, cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False))
|
||||
actuators = SimpleNamespace(longControlState=LongCtrlState.pid)
|
||||
|
||||
msgs = controller.create_can_msgs(True, 0, False, 42.0, 0.0, False, hud_control, actuators, CS, CC, 2, 2)
|
||||
msg_addrs_buses = {(addr, bus) for addr, _, bus in msgs}
|
||||
|
||||
assert {
|
||||
(0x50, 0), (0x2A4, 0), (0x51, 0),
|
||||
(0x340, 1), (0x485, 1), (0x420, 1), (0x421, 1), (0x389, 1), (0x38D, 1),
|
||||
(0x363, 1), (0x398, 1), (0x399, 1), (0x39A, 1), (0x39B, 1), (0x39C, 1), (0x43A, 1),
|
||||
} <= msg_addrs_buses
|
||||
assert (0x364, 1) not in msg_addrs_buses
|
||||
|
||||
def test_g70_aol_uses_active_lkas_icon(self):
|
||||
CP = CarInterface.get_params(CAR.GENESIS_G70_2020, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
controller = CarController(DBC[CP.carFingerprint], CP)
|
||||
@@ -676,22 +616,6 @@ class TestHyundaiFingerprint:
|
||||
assert DBC[CP.carFingerprint][Bus.pt] == "hyundai_can_refresh_generated"
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
|
||||
|
||||
def test_elantra_refresh_decodes_classic_media_buttons(self):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], CP, toggles)
|
||||
|
||||
car_state = CarState(CP, FPCP)
|
||||
can_parsers = car_state.get_can_parsers(CP)
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
media_msg = packer.make_can_msg("GW_SWRC_PE", 0, {"C_ModeSW": 1, "C_MTSSW": 1})
|
||||
|
||||
can_parsers[Bus.pt].update([(1_000_000_000, [media_msg])])
|
||||
_, fp_ret = car_state.update(can_parsers, toggles)
|
||||
|
||||
assert fp_ret.modePressed
|
||||
assert fp_ret.customPressed
|
||||
|
||||
def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[0][0x391] = 8
|
||||
@@ -728,18 +652,44 @@ class TestHyundaiFingerprint:
|
||||
assert combined_safety_param & HyundaiSafetyFlags.LONG
|
||||
assert combined_safety_param & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
|
||||
|
||||
@pytest.mark.parametrize("candidate, tracks_main_cruise", (
|
||||
(CAR.HYUNDAI_ELANTRA_2021, False),
|
||||
(CAR.HYUNDAI_ELANTRA_HEV_2024, False),
|
||||
(CAR.HYUNDAI_SONATA_HYBRID, False),
|
||||
))
|
||||
def test_legacy_hyundai_long_main_cruise_tracking_is_vehicle_specific(self, candidate, tracks_main_cruise):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
FPCP = CarInterface.get_starpilot_params(
|
||||
candidate, gen_empty_fingerprint(), [], CP, toggles,
|
||||
def test_sonata_hybrid_aol_main_lkas_sync_is_scoped(self):
|
||||
toggles = SimpleNamespace(always_on_lateral_lkas=True, main_cruise_aol_toggle=True)
|
||||
|
||||
sonata_hybrid_cp = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
sonata_hybrid_fpcp = CarInterface.get_starpilot_params(
|
||||
CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, toggles,
|
||||
)
|
||||
assert bool(FPCP.flags & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING) is tracks_main_cruise
|
||||
assert sonata_hybrid_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC
|
||||
|
||||
sonata_cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
sonata_fpcp = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], sonata_cp, toggles)
|
||||
assert not (sonata_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
|
||||
|
||||
disabled_toggles = SimpleNamespace(always_on_lateral_lkas=True, main_cruise_aol_toggle=False)
|
||||
disabled_fpcp = CarInterface.get_starpilot_params(
|
||||
CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, disabled_toggles,
|
||||
)
|
||||
assert not (disabled_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
|
||||
|
||||
minimal_fpcp = CarInterface.get_starpilot_params(
|
||||
CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, SimpleNamespace(),
|
||||
)
|
||||
assert not (minimal_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
|
||||
|
||||
def test_classic_hyundai_long_tracks_main_cruise_state(self):
|
||||
toggles = get_test_toggles()
|
||||
classic_cp = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_2021, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
classic_fpcp = CarInterface.get_starpilot_params(
|
||||
CAR.HYUNDAI_ELANTRA_2021, gen_empty_fingerprint(), [], classic_cp, toggles,
|
||||
)
|
||||
assert classic_fpcp.flags & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING
|
||||
|
||||
car_state = CarState(classic_cp, classic_fpcp)
|
||||
ret = SimpleNamespace(
|
||||
cruiseState=SimpleNamespace(available=True),
|
||||
buttonEvents=[structs.CarState.ButtonEvent(pressed=True, type=ButtonType.mainCruise)],
|
||||
)
|
||||
assert car_state.update_main_cruise(ret)
|
||||
|
||||
ioniq_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
ioniq_fpcp = CarInterface.get_starpilot_params(
|
||||
@@ -1014,45 +964,6 @@ class TestHyundaiFingerprint:
|
||||
assert long_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.HYBRID_GAS
|
||||
assert long_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
|
||||
|
||||
def test_g80_alpha_long_preserves_legacy_safety(self):
|
||||
toggles = get_test_toggles()
|
||||
|
||||
stock_g80 = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], False, False, False, toggles)
|
||||
assert CAR.GENESIS_G80 in LEGACY_LONGITUDINAL_CAR
|
||||
assert stock_g80.alphaLongitudinalAvailable
|
||||
assert not stock_g80.openpilotLongitudinalControl
|
||||
assert stock_g80.pcmCruise
|
||||
assert stock_g80.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
|
||||
assert not (stock_g80.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
|
||||
|
||||
long_g80 = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
assert long_g80.alphaLongitudinalAvailable
|
||||
assert long_g80.openpilotLongitudinalControl
|
||||
assert not long_g80.pcmCruise
|
||||
assert long_g80.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
|
||||
assert long_g80.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
|
||||
|
||||
@pytest.mark.parametrize("ecu_disabled", (True, False))
|
||||
def test_g80_alpha_long_disables_stock_scc(self, monkeypatch, ecu_disabled):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
|
||||
called = {}
|
||||
|
||||
def fake_disable_ecu(*args, **kwargs):
|
||||
called.update(kwargs)
|
||||
return ecu_disabled
|
||||
|
||||
monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
|
||||
CarInterface.init(CP, None, None)
|
||||
|
||||
assert called["addr"] == 0x7d0
|
||||
assert called["bus"] == 0
|
||||
assert called["reset"] is False
|
||||
assert CP.openpilotLongitudinalControl == ecu_disabled
|
||||
assert CP.pcmCruise != ecu_disabled
|
||||
assert bool(CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG) == ecu_disabled
|
||||
|
||||
def test_xceed_phev_disable_failure_falls_back_to_stock_acc(self, monkeypatch):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.KIA_XCEED_PHEV, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
@@ -1108,24 +1019,6 @@ class TestHyundaiFingerprint:
|
||||
assert reset_state.accel_last == pytest.approx(0.0)
|
||||
assert reset_state.long_control_state_last == LongCtrlState.off
|
||||
|
||||
def test_kia_ev6_gt_line_testing_ground_longitudinal_params(self, monkeypatch):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
CP.carVin = "00000000000000000"
|
||||
|
||||
monkeypatch.setattr(
|
||||
"opendbc.car.hyundai.interface.testing_ground",
|
||||
SimpleNamespace(use=lambda slot_id: slot_id == "5"),
|
||||
)
|
||||
CarInterface.apply_post_fingerprint_params(CP, CAR.KIA_EV6, gen_empty_fingerprint(), [])
|
||||
|
||||
assert CP.startAccel == pytest.approx(1.4)
|
||||
assert CP.vEgoStarting == pytest.approx(0.5)
|
||||
assert CP.longitudinalActuatorDelay == pytest.approx(0.35)
|
||||
|
||||
assert kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin, testing_ground_active=True)
|
||||
assert not kia_ev6_gt_line_longitudinal_tuning(CAR.KIA_EV6_2025, CP.carVin, testing_ground_active=True)
|
||||
|
||||
def test_kia_ev6_non_gt_line_keeps_family_longitudinal_params(self):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
@@ -1240,28 +1133,6 @@ class TestHyundaiFingerprint:
|
||||
assert exact
|
||||
assert matches == {CAR.KIA_CARNIVAL_2025}
|
||||
|
||||
def test_genesis_gv70_2026_route_fw_exact_matches(self):
|
||||
route_fw = {
|
||||
(Ecu.fwdCamera, 0x7c4): b'\xf1\x00JK MFC AT USA LHD 1.00 1.11 99211-IY600 241125',
|
||||
(Ecu.fwdRadar, 0x7d0): b'\xf1\x00JK__ RDR ----- 1.00 1.01 99110-AR600 ',
|
||||
}
|
||||
car_fw = [
|
||||
CarParams.CarFw(ecu=ecu, fwVersion=version, address=address, subAddress=0, brand="hyundai")
|
||||
for (ecu, address), version in route_fw.items()
|
||||
]
|
||||
|
||||
exact, matches = match_fw_to_car(car_fw, "", allow_exact=True, allow_fuzzy=False, log=False)
|
||||
assert exact
|
||||
assert matches == {CAR.GENESIS_GV70_2026}
|
||||
|
||||
def test_genesis_gv70_2026_uses_gas_angle_configuration(self):
|
||||
CP = CarInterface.get_params(CAR.GENESIS_GV70_2026, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
|
||||
assert CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
|
||||
assert not (CP.flags & HyundaiFlags.EV)
|
||||
assert CP.steerControlType == CarParams.SteerControlType.angle
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_ANGLE_STEERING
|
||||
|
||||
def test_kona_non_scc_fca_radar_fw_is_optional(self):
|
||||
fw_versions = FW_VERSIONS[CAR.HYUNDAI_KONA_NON_SCC]
|
||||
car_fw = [
|
||||
@@ -1615,7 +1486,7 @@ class TestHyundaiFingerprint:
|
||||
|
||||
assert Bus.alt not in can_parsers
|
||||
|
||||
def test_sonata_uses_main_bus_bcm_lkas_button_event(self):
|
||||
def test_sonata_alt_bus_clu13_swl_stat_lkas_button_event(self):
|
||||
toggles = get_test_toggles()
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[0][0x391] = 8
|
||||
@@ -1627,26 +1498,16 @@ class TestHyundaiFingerprint:
|
||||
can_parsers = car_state.get_can_parsers(CP)
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
|
||||
assert Bus.alt not in can_parsers
|
||||
|
||||
def update(lkas_button: int, frame: int):
|
||||
msgs = [
|
||||
packer.make_can_msg("CLU13", 0, {
|
||||
"CF_Clu_LdwsLkasSW": 0,
|
||||
"CF_Clu_SWL_Stat": 4,
|
||||
}),
|
||||
packer.make_can_msg("BCM_PO_11", 0, {
|
||||
"LDA_BTN": lkas_button,
|
||||
}),
|
||||
]
|
||||
can_parsers[Bus.pt].update([(frame, msgs)])
|
||||
msg = packer.make_can_msg("CLU13", 1, {
|
||||
"CF_Clu_SWL_Stat": lkas_button,
|
||||
})
|
||||
can_parsers[Bus.alt].update([(frame, [msg])])
|
||||
return car_state.update(can_parsers, toggles)[0]
|
||||
|
||||
update(0, 1)
|
||||
ret = update(1, 2)
|
||||
ret = update(4, 2)
|
||||
assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
|
||||
|
||||
ret = update(0, 3)
|
||||
assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
|
||||
|
||||
def test_genesis_g90_does_not_use_alt_bus_lkas_parser(self):
|
||||
@@ -1676,7 +1537,6 @@ class TestHyundaiFingerprint:
|
||||
assert CP.startAccel == pytest.approx(0.2)
|
||||
assert CP.vEgoStarting == pytest.approx(0.5)
|
||||
assert CP.longitudinalActuatorDelay == pytest.approx(0.3)
|
||||
assert KIA_EV9_ACCEL_MAX == pytest.approx(2.2)
|
||||
assert CarInterface.get_pid_accel_limits(CP, 0.0, 0.0)[1] == pytest.approx(KIA_EV9_ACCEL_MAX)
|
||||
|
||||
ioniq_6_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
@@ -2501,22 +2361,6 @@ class TestHyundaiFingerprint:
|
||||
assert parser.vl["SCC14"]["ComfortBandLower"] == pytest.approx(0.0)
|
||||
assert parser.vl["SCC14"]["JerkLowerLimit"] == pytest.approx(5.0)
|
||||
|
||||
def test_can_acc_commands_follow_sonata_main_cruise_state(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.HYUNDAI_SONATA_HYBRID
|
||||
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("SCC11", 0)], 0)
|
||||
|
||||
msgs = hyundaican.create_acc_commands(packer, enabled=False, accel=0.0, upper_jerk=1.0, idx=3,
|
||||
hud_control=SimpleNamespace(leadDistanceBars=3, leadVisible=False), set_speed=42,
|
||||
stopping=False, long_override=False, use_fca=False, CP=CP,
|
||||
main_cruise_enabled=False)
|
||||
parser.update([(1, msgs)])
|
||||
|
||||
assert parser.can_valid
|
||||
assert parser.vl["SCC11"]["MainMode_ACC"] == 0
|
||||
|
||||
def test_can_acc_commands_use_enabled_fca_status(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.GENESIS_G90
|
||||
@@ -2570,46 +2414,6 @@ class TestHyundaiFingerprint:
|
||||
assert parser.vl["SCC14"]["ObjStatus"] == 1
|
||||
assert parser.vl["RADAR_0x363"]["FCA_ESA"] == 1
|
||||
|
||||
def test_can_canfd_blended_hda2_acc_commands_use_hda2_layout(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.HYUNDAI_PALISADE_2023
|
||||
CP.flags = int(HyundaiFlags.CAN_CANFD_BLENDED | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.USE_FCA)
|
||||
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [
|
||||
("SCC11", 0),
|
||||
("SCC12", 0),
|
||||
("SCC14", 0),
|
||||
("FCA11", 0),
|
||||
], 1)
|
||||
|
||||
msgs = hyundaican.create_acc_commands_can_canfd_blended_hda2(
|
||||
packer,
|
||||
enabled=True,
|
||||
accel=-1.0,
|
||||
accel_last=0.0,
|
||||
upper_jerk=2.5,
|
||||
idx=15,
|
||||
hud_control=SimpleNamespace(leadDistanceBars=3, leadVisible=True),
|
||||
set_speed=42,
|
||||
stopping=False,
|
||||
long_override=False,
|
||||
use_fca=True,
|
||||
CP=CP,
|
||||
)
|
||||
parser.update([(1, msgs)])
|
||||
|
||||
assert parser.can_valid
|
||||
assert parser.vl["SCC11"]["aReqRaw"] == pytest.approx(-1.0)
|
||||
assert parser.vl["SCC11"]["aReqValue"] == pytest.approx(-0.1)
|
||||
assert parser.vl["SCC11"]["COUNTER"] == 0
|
||||
assert parser.vl["SCC12"]["VSetDis"] == 42
|
||||
assert parser.vl["SCC14"]["ObjValid"] == 0
|
||||
assert parser.vl["SCC14"]["ObjStatus"] == 2
|
||||
assert parser.vl["FCA11"]["aeb_cmd_act"] == 0
|
||||
assert parser.vl["FCA11"]["fca_cmd_act"] == 0
|
||||
assert next(dat for addr, dat, _ in msgs if addr == 0x38D)[4:7] == b"\xC0\x3F\x7F"
|
||||
|
||||
def test_can_acc_optional_messages_use_enabled_fca_usm(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.GENESIS_G90
|
||||
@@ -2735,47 +2539,26 @@ class TestHyundaiFingerprint:
|
||||
("LKAS", can_bus.ACAN),
|
||||
]
|
||||
|
||||
def test_ev9_fallback_active_lateral_uses_lkas_without_injecting_lfa(self):
|
||||
def test_ev9_fallback_keeps_lfa_status_without_longitudinal_control(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.KIA_EV9
|
||||
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CCNC |
|
||||
HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CANFD_LKA_STEERING |
|
||||
HyundaiFlags.CANFD_LKA_STEERING_ALT)
|
||||
CP.openpilotLongitudinalControl = True
|
||||
|
||||
controller = CarController(DBC[CP.carFingerprint], CP)
|
||||
controller.frame = 1
|
||||
controller.ecu_disable_failed = True
|
||||
controller.long_active_ecu = False
|
||||
CP.openpilotLongitudinalControl = False
|
||||
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
can_bus = CanBus(CP)
|
||||
cc = SimpleNamespace(
|
||||
enabled=True,
|
||||
latActive=True,
|
||||
actuators=SimpleNamespace(longControlState=LongCtrlState.off),
|
||||
cruiseControl=SimpleNamespace(cancel=False, resume=False),
|
||||
leftBlinker=False,
|
||||
rightBlinker=False,
|
||||
hudControl=SimpleNamespace(),
|
||||
)
|
||||
cs = SimpleNamespace(
|
||||
stock_lfa_msg={},
|
||||
stock_lkas_msg={},
|
||||
out=SimpleNamespace(
|
||||
standstill=False,
|
||||
steeringAngleDeg=-31.5,
|
||||
gearShifter=structs.CarState.GearShifter.drive,
|
||||
),
|
||||
msgs = hyundaicanfd.create_steering_messages(
|
||||
packer, CP, can_bus, True, True, 0.44, -31.5, send_lfa_status=True,
|
||||
)
|
||||
|
||||
msgs = controller.create_canfd_msgs(0, True, 0.44, -31.5, 0.0, 0.0, False,
|
||||
cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2)
|
||||
assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
|
||||
("LFA", can_bus.ECAN),
|
||||
("LKAS_ALT", can_bus.ACAN),
|
||||
]
|
||||
|
||||
def test_ev9_fallback_does_not_inject_lfa_while_parked(self):
|
||||
def test_ev9_fallback_lfa_only_does_not_send_lkas_at_standstill(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.KIA_EV9
|
||||
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CCNC |
|
||||
@@ -2783,31 +2566,15 @@ class TestHyundaiFingerprint:
|
||||
HyundaiFlags.CANFD_LKA_STEERING_ALT)
|
||||
CP.openpilotLongitudinalControl = False
|
||||
|
||||
controller = CarController(DBC[CP.carFingerprint], CP)
|
||||
controller.ecu_disable_failed = True
|
||||
cc = SimpleNamespace(
|
||||
enabled=False,
|
||||
latActive=False,
|
||||
actuators=SimpleNamespace(longControlState=LongCtrlState.off),
|
||||
cruiseControl=SimpleNamespace(cancel=False, resume=False),
|
||||
leftBlinker=False,
|
||||
rightBlinker=False,
|
||||
hudControl=SimpleNamespace(),
|
||||
)
|
||||
cs = SimpleNamespace(
|
||||
stock_lfa_msg={},
|
||||
stock_lkas_msg={},
|
||||
out=SimpleNamespace(
|
||||
standstill=True,
|
||||
steeringAngleDeg=0.0,
|
||||
gearShifter=structs.CarState.GearShifter.park,
|
||||
),
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
can_bus = CanBus(CP)
|
||||
msgs = hyundaicanfd.create_steering_messages(
|
||||
packer, CP, can_bus, True, False, 0.0, 0.0, send_lfa_status=True, lfa_only=True,
|
||||
)
|
||||
|
||||
msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
|
||||
cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
|
||||
|
||||
assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
|
||||
assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
|
||||
("LFA", can_bus.ECAN),
|
||||
]
|
||||
|
||||
def test_kia_ev6_lkas_helper_preserves_stock_camera_fields_with_stock_long(self):
|
||||
CP = CarParams.new_message()
|
||||
|
||||
@@ -481,7 +481,7 @@ class CAR(Platforms):
|
||||
[
|
||||
HyundaiCarDocs("Hyundai Palisade (without HDA II) 2023-25", "Highway Driving Assist",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-25", "Highway Driving Assist II",
|
||||
HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-24", "Highway Driving Assist II",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_r])),
|
||||
HyundaiCarDocs("Kia Telluride (without HDA II) 2023-25", "Highway Driving Assist",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
@@ -872,16 +872,6 @@ class CAR(Platforms):
|
||||
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
|
||||
radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
|
||||
)
|
||||
GENESIS_GV70_2026 = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Genesis GV70 (3.5T Sport Prestige Trim, with HDA II & LFA2) 2026",
|
||||
"Highway Driving Assist II & Lane Follow Assist 2",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
],
|
||||
GENESIS_GV70_1ST_GEN.specs,
|
||||
flags=HyundaiFlags.CANFD_ANGLE_STEERING,
|
||||
radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
|
||||
)
|
||||
GENESIS_G80 = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
|
||||
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
|
||||
@@ -978,27 +968,32 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
|
||||
CAR.HYUNDAI_PALISADE_2023,
|
||||
})
|
||||
|
||||
CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR = frozenset({
|
||||
CAR.HYUNDAI_PALISADE_2023,
|
||||
})
|
||||
|
||||
KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
|
||||
"C4DLC",
|
||||
})
|
||||
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID = "5"
|
||||
|
||||
|
||||
ALT_BUS_LDA_BUTTON_CARS = frozenset()
|
||||
ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset()
|
||||
# These classic HKG platforms publish the LKAS button on CLU13 over the alt bus.
|
||||
# Keep G90 excluded until its alt-bus path is route-proven without the recent
|
||||
# engage/disengage regression.
|
||||
ALT_BUS_LDA_BUTTON_CARS = frozenset({
|
||||
CAR.HYUNDAI_SONATA,
|
||||
})
|
||||
|
||||
# On these Sonata layouts the alt-bus LKAS button pulses through the CLU13
|
||||
# steering-wheel-status field instead of the dedicated LKAS bit.
|
||||
ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset({
|
||||
CAR.HYUNDAI_SONATA,
|
||||
})
|
||||
|
||||
|
||||
def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
|
||||
return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
|
||||
|
||||
|
||||
def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str, testing_ground_active: bool = False) -> bool:
|
||||
vin_match = isinstance(vin, str) and len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
|
||||
return car_fingerprint == CAR.KIA_EV6 and (vin_match or testing_ground_active)
|
||||
def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str) -> bool:
|
||||
return car_fingerprint == CAR.KIA_EV6 and isinstance(vin, str) and \
|
||||
len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
|
||||
|
||||
|
||||
def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
|
||||
@@ -1090,7 +1085,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
|
||||
# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
|
||||
CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
|
||||
CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN,
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2, CAR.GENESIS_GV70_2026}
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2}
|
||||
|
||||
# List of ECUs expected to have platform codes, camera and radar should exist on all cars
|
||||
# TODO: use abs, it has the platform code and part number on many platforms
|
||||
@@ -1193,7 +1188,6 @@ CANFD_SECURITYACCESS_CAR = {
|
||||
}
|
||||
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
|
||||
CANFD_ANGLE_LONGITUDINAL_CAR = {CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE}
|
||||
CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN}
|
||||
CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
|
||||
CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
|
||||
CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
|
||||
@@ -1224,9 +1218,6 @@ NON_SCC_CAR = CAR.with_flags(HyundaiFlags.NON_SCC)
|
||||
# HyundaiFlags.CANFD_RADAR_SCC | HyundaiFlags.CANFD_NO_RADAR_DISABLE | )
|
||||
UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
|
||||
|
||||
LEGACY_LONGITUDINAL_CAR = {
|
||||
CAR.GENESIS_G80,
|
||||
CAR.KIA_XCEED_PHEV,
|
||||
}
|
||||
LEGACY_LONGITUDINAL_CAR = {CAR.KIA_XCEED_PHEV}
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
@@ -232,6 +232,9 @@ class CarInterfaceBase(ABC):
|
||||
fp_ret.flags |= int(HondaStarPilotFlags.HAS_CAMERA_MESSAGES)
|
||||
|
||||
elif platform in HYUNDAI:
|
||||
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD):
|
||||
fp_ret.flags |= HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING.value
|
||||
|
||||
if candidate in CANFD_CAR:
|
||||
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
|
||||
CAN = CanBus(None, fingerprint, bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING))
|
||||
@@ -264,7 +267,6 @@ class CarInterfaceBase(ABC):
|
||||
if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID and getattr(starpilot_toggles, "always_on_lateral_lkas", False) and \
|
||||
getattr(starpilot_toggles, "main_cruise_aol_toggle", False):
|
||||
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC.value
|
||||
|
||||
elif platform in TOYOTA:
|
||||
fp_ret.canUsePedal = not CP.autoResumeSng
|
||||
fp_ret.canUseSDSU = candidate not in UNSUPPORTED_DSU_CAR and candidate not in TSS2_CAR
|
||||
@@ -275,7 +277,7 @@ class CarInterfaceBase(ABC):
|
||||
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
|
||||
fp_ret.flags |= ToyotaStarPilotFlags.SMART_DSU.value
|
||||
|
||||
if candidate in (TOYOTA.TOYOTA_PRIUS, TOYOTA.TOYOTA_PRIUS_RETROFIT):
|
||||
if candidate == TOYOTA.TOYOTA_PRIUS:
|
||||
if 0x23 in fingerprint[0]:
|
||||
fp_ret.flags |= ToyotaStarPilotFlags.ZSS.value
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from dataclasses import dataclass
|
||||
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, structs, rate_limit, DT_CTRL
|
||||
from opendbc.car import structs, rate_limit, DT_CTRL
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
|
||||
FRICTION_THRESHOLD = 0.3
|
||||
@@ -10,12 +10,6 @@ FRICTION_THRESHOLD = 0.3
|
||||
ISO_LATERAL_ACCEL = 3.0 # m/s^2
|
||||
ISO_LATERAL_JERK = 5.0 # m/s^3
|
||||
|
||||
# Common angle/curvature safety limits. The road-roll allowance keeps the
|
||||
# controller and panda limits aligned on normally banked roads.
|
||||
AVERAGE_ROAD_ROLL = 0.06
|
||||
MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
|
||||
MAX_LATERAL_JERK = 3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
|
||||
|
||||
|
||||
@dataclass
|
||||
class AngleSteeringLimits:
|
||||
@@ -30,29 +24,6 @@ class AngleSteeringLimits:
|
||||
MAX_ANGLE_RATE: float = math.inf
|
||||
|
||||
|
||||
@dataclass
|
||||
class CurvatureSteeringLimits:
|
||||
CURVATURE_MAX: float
|
||||
MAX_LATERAL_ACCEL: float = MAX_LATERAL_ACCEL
|
||||
MAX_LATERAL_JERK: float = MAX_LATERAL_JERK
|
||||
|
||||
def apply_limits(self, apply_curvature: float, apply_curvature_last: float, v_ego: float, curvature: float,
|
||||
lat_active: bool, steer_step: int) -> float:
|
||||
"""Apply lateral acceleration and jerk constraints to curvature."""
|
||||
v_ego = max(v_ego, 1)
|
||||
|
||||
max_curvature = self.MAX_LATERAL_ACCEL / (v_ego ** 2)
|
||||
new_apply_curvature = float(np.clip(apply_curvature, -max_curvature, max_curvature))
|
||||
|
||||
max_jerk = (self.MAX_LATERAL_JERK / (v_ego ** 2)) * (steer_step * DT_CTRL)
|
||||
new_apply_curvature = float(np.clip(new_apply_curvature, apply_curvature_last - max_jerk, apply_curvature_last + max_jerk))
|
||||
|
||||
if not lat_active:
|
||||
new_apply_curvature = curvature
|
||||
|
||||
return float(np.clip(new_apply_curvature, -self.CURVATURE_MAX, self.CURVATURE_MAX))
|
||||
|
||||
|
||||
def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
|
||||
# some safety modes utilize a dynamic max steer
|
||||
if steer_max is None:
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import numpy as np
|
||||
|
||||
from opendbc.can import CANPacker
|
||||
from opendbc.car import Bus, DT_CTRL, structs
|
||||
from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
|
||||
from opendbc.car.common.filter_simple import FirstOrderFilter
|
||||
from opendbc.car.lateral import apply_std_steer_angle_limits
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
@@ -55,7 +55,7 @@ class CarController(CarControllerBase):
|
||||
CC.longActive and brake_pressure > 0, brake_mode))
|
||||
|
||||
if self.frame % 100 == 0:
|
||||
can_sends.append(nissancan.create_leaf_adas_tester_present())
|
||||
can_sends.append(make_tester_present_msg(0x707, 0, suppress_response=True))
|
||||
|
||||
### STEER ###
|
||||
steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
import time
|
||||
|
||||
from opendbc.car import get_safety_config, structs
|
||||
from opendbc.car import get_safety_config, structs, uds
|
||||
from opendbc.car.disable_ecu import disable_ecu, ecu_log
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
|
||||
from opendbc.car.nissan.carcontroller import CarController
|
||||
from opendbc.car.nissan.carstate import CarState
|
||||
from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags, \
|
||||
@@ -12,103 +9,16 @@ from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlag
|
||||
|
||||
LEAF_ADAS_ECU_ADDR = 0x707
|
||||
LEAF_ADAS_ECU_BUS = 0
|
||||
LEAF_ADAS_COMMAND_BUS = 1
|
||||
LEAF_ADAS_COMMAND_ADDRS = frozenset((0x1C3, 0x2B0))
|
||||
LEAF_2025_SV_PLUS_CAMERA_FW = b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80'
|
||||
LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED = False
|
||||
|
||||
LEAF_KWP_EXTENDED_REQUEST = b"\x10\xC0"
|
||||
LEAF_KWP_EXTENDED_RESPONSE = b"\x50\xC0"
|
||||
LEAF_KWP_DISABLE_NORMAL_TX_NO_RESPONSE = b"\x28\x02"
|
||||
|
||||
LEAF_KWP_TAKEOVER_SESSIONS = (
|
||||
(LEAF_KWP_EXTENDED_REQUEST, LEAF_KWP_EXTENDED_RESPONSE),
|
||||
)
|
||||
|
||||
|
||||
def is_leaf_2025_sv_plus_longitudinal(candidate, car_fw):
|
||||
return LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED and candidate == CAR.NISSAN_LEAF and any(
|
||||
return candidate == CAR.NISSAN_LEAF and any(
|
||||
fw.address == LEAF_ADAS_ECU_ADDR and bytes(fw.fwVersion) == LEAF_2025_SV_PLUS_CAMERA_FW
|
||||
for fw in car_fw
|
||||
)
|
||||
|
||||
|
||||
def leaf_adas_commands_silent(can_recv, settle_time=0.05, observe_time=0.15):
|
||||
"""Confirm the stock ADAS command sender stopped while bus 1 is still observable."""
|
||||
if can_recv is None:
|
||||
return False
|
||||
|
||||
try:
|
||||
# Let already-published CAN batches age out, then discard everything queued
|
||||
# before the communication-control response.
|
||||
time.sleep(settle_time)
|
||||
can_recv()
|
||||
|
||||
saw_adas_bus_traffic = False
|
||||
deadline = time.monotonic() + observe_time
|
||||
while time.monotonic() < deadline:
|
||||
packets = can_recv(wait_for_one=True)
|
||||
for packet in packets:
|
||||
for msg in packet:
|
||||
if msg.src != LEAF_ADAS_COMMAND_BUS:
|
||||
continue
|
||||
saw_adas_bus_traffic = True
|
||||
if msg.address in LEAF_ADAS_COMMAND_ADDRS:
|
||||
ecu_log(f"Nissan Leaf ADAS TX still active: {hex(msg.address)} on bus {msg.src}")
|
||||
return False
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX silence verification exception: {e}")
|
||||
return False
|
||||
|
||||
if not saw_adas_bus_traffic:
|
||||
ecu_log("Nissan Leaf ADAS TX silence could not be verified: no bus 1 traffic observed")
|
||||
return saw_adas_bus_traffic
|
||||
|
||||
|
||||
def leaf_adas_commands_present(can_recv, settle_time=0.05, observe_time=0.15):
|
||||
"""Confirm the stock ADAS command sender resumed on bus 1."""
|
||||
if can_recv is None:
|
||||
return False
|
||||
|
||||
try:
|
||||
time.sleep(settle_time)
|
||||
can_recv()
|
||||
|
||||
deadline = time.monotonic() + observe_time
|
||||
while time.monotonic() < deadline:
|
||||
for packet in can_recv(wait_for_one=True):
|
||||
if any(msg.src == LEAF_ADAS_COMMAND_BUS and msg.address in LEAF_ADAS_COMMAND_ADDRS for msg in packet):
|
||||
return True
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX recovery verification exception: {e}")
|
||||
return False
|
||||
|
||||
ecu_log("Nissan Leaf ADAS normal TX recovery could not be verified")
|
||||
return False
|
||||
|
||||
|
||||
def restore_leaf_adas_tx(can_recv, can_send):
|
||||
"""Return to the confirmed KWP default session and verify normal TX resumes."""
|
||||
if can_recv is None or can_send is None:
|
||||
return False
|
||||
|
||||
try:
|
||||
ecu_log("Nissan Leaf ADAS TX restore using KWP default session 1081")
|
||||
query = IsoTpParallelQuery(
|
||||
can_send, can_recv, LEAF_ADAS_ECU_BUS, [LEAF_ADAS_ECU_ADDR],
|
||||
[NISSAN_DIAGNOSTIC_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP],
|
||||
response_offset=NISSAN_RX_OFFSET,
|
||||
)
|
||||
if query.get_data(0.2) and leaf_adas_commands_present(can_recv):
|
||||
ecu_log("Nissan Leaf ADAS normal TX restored and command traffic confirmed")
|
||||
return True
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX restore exception: {e}")
|
||||
|
||||
ecu_log("Nissan Leaf ADAS normal TX restore was not confirmed")
|
||||
return False
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
@@ -152,36 +62,39 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def init(CP, can_recv, can_send):
|
||||
if not (CP.openpilotLongitudinalControl and CP.alphaLongitudinalAvailable and CP.carFingerprint == CAR.NISSAN_LEAF):
|
||||
if not (CP.openpilotLongitudinalControl and CP.carFingerprint == CAR.NISSAN_LEAF):
|
||||
return
|
||||
|
||||
from openpilot.common.params import Params
|
||||
params = Params()
|
||||
ecu_disabled = False
|
||||
for diag_request, diag_response in LEAF_KWP_TAKEOVER_SESSIONS:
|
||||
ecu_log(f"Nissan Leaf ADAS takeover using KWP session {diag_request.hex()}")
|
||||
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
|
||||
uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
|
||||
uds.MESSAGE_TYPE.NORMAL])
|
||||
ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
|
||||
com_cont_req=communication_control, require_response=True, response_offset=NISSAN_RX_OFFSET)
|
||||
if not ecu_disabled:
|
||||
# Nissan firmware queries use the KWP-style default session. Try it after
|
||||
# standard UDS extended-session control, but still require a positive 0x68 response.
|
||||
ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
|
||||
com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX_NO_RESPONSE, require_response=False, retry=1,
|
||||
diag_request=diag_request, diag_response=diag_response, response_offset=NISSAN_RX_OFFSET)
|
||||
if ecu_disabled:
|
||||
break
|
||||
|
||||
takeover_confirmed = ecu_disabled and leaf_adas_commands_silent(can_recv)
|
||||
params.put_bool("EcuDisableFailed", not takeover_confirmed)
|
||||
if takeover_confirmed:
|
||||
ecu_log("Nissan Leaf ADAS TX disable and command silence confirmed; experimental longitudinal control enabled")
|
||||
com_cont_req=communication_control, require_response=True,
|
||||
diag_request=NISSAN_DIAGNOSTIC_REQUEST_KWP, diag_response=NISSAN_DIAGNOSTIC_RESPONSE_KWP,
|
||||
response_offset=NISSAN_RX_OFFSET)
|
||||
params.put_bool("EcuDisableFailed", not ecu_disabled)
|
||||
if ecu_disabled:
|
||||
ecu_log("Nissan Leaf ADAS TX disabled; experimental longitudinal control enabled")
|
||||
else:
|
||||
# A response can be lost after the ECU accepts 0x28. Always attempt to
|
||||
# restore stock transmission before falling back to stock longitudinal.
|
||||
restore_leaf_adas_tx(can_recv, can_send)
|
||||
CP.safetyConfigs[-1].safetyParam &= ~NissanSafetyFlags.LONG_CONTROL.value
|
||||
CP.openpilotLongitudinalControl = False
|
||||
CP.pcmCruise = True
|
||||
ecu_log("Nissan Leaf ADAS takeover was not confirmed; falling back to stock longitudinal control")
|
||||
ecu_log("Nissan Leaf ADAS TX disable failed; falling back to stock longitudinal control")
|
||||
|
||||
@staticmethod
|
||||
def deinit(CP, can_recv, can_send):
|
||||
if not (CP.openpilotLongitudinalControl and CP.alphaLongitudinalAvailable and CP.carFingerprint == CAR.NISSAN_LEAF):
|
||||
if not (CP.openpilotLongitudinalControl and CP.carFingerprint == CAR.NISSAN_LEAF):
|
||||
return
|
||||
|
||||
restore_leaf_adas_tx(can_recv, can_send)
|
||||
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
|
||||
0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
|
||||
uds.MESSAGE_TYPE.NORMAL])
|
||||
disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
|
||||
com_cont_req=communication_control, response_offset=NISSAN_RX_OFFSET)
|
||||
|
||||
@@ -6,11 +6,6 @@ from opendbc.car.nissan.values import CAR
|
||||
nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
|
||||
|
||||
|
||||
def create_leaf_adas_tester_present():
|
||||
"""KWP2000 tester-present with a response requested, for the 2025 Leaf ADAS ECU."""
|
||||
return CanData(0x707, b"\x02\x3E\x01\x00\x00\x00\x00\x00", 0)
|
||||
|
||||
|
||||
def create_accel_command(raw_command, frame, active):
|
||||
"""Build the Leaf ADAS propulsion/regen request (0x2B0)."""
|
||||
raw_command = int(raw_command)
|
||||
|
||||
@@ -2,12 +2,9 @@ from types import SimpleNamespace
|
||||
|
||||
import pytest
|
||||
|
||||
from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.nissan import interface as nissan_interface
|
||||
from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs, uds
|
||||
from opendbc.car.nissan.carstate import CarState
|
||||
from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW, leaf_adas_commands_present, \
|
||||
leaf_adas_commands_silent, restore_leaf_adas_tx
|
||||
from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW
|
||||
from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags
|
||||
|
||||
|
||||
@@ -19,12 +16,6 @@ SUPPORTED_LEAF_FW = [structs.CarParams.CarFw(
|
||||
)]
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def experimental_leaf_long(monkeypatch):
|
||||
"""Exercise the dormant implementation without making it available in production."""
|
||||
monkeypatch.setattr(nissan_interface, "LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED", True)
|
||||
|
||||
|
||||
def run_controller(alpha_long, accel=0.0, long_active=True, long_state=structs.CarControl.Actuators.LongControlState.pid):
|
||||
CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, alpha_long, False, False, TEST_TOGGLES)
|
||||
FPCP = CarInterface.get_starpilot_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, CP, TEST_TOGGLES)
|
||||
@@ -40,28 +31,7 @@ def run_controller(alpha_long, accel=0.0, long_active=True, long_state=structs.C
|
||||
return {msg[0]: msg for msg in can_sends}
|
||||
|
||||
|
||||
def test_leaf_2025_sv_plus_alpha_long_is_disabled(monkeypatch):
|
||||
stock = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, False, False, False, None)
|
||||
alpha_long = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
|
||||
|
||||
assert not stock.alphaLongitudinalAvailable
|
||||
assert not stock.openpilotLongitudinalControl
|
||||
assert stock.pcmCruise
|
||||
assert not (stock.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
|
||||
|
||||
assert not alpha_long.alphaLongitudinalAvailable
|
||||
assert not alpha_long.openpilotLongitudinalControl
|
||||
assert alpha_long.pcmCruise
|
||||
assert not alpha_long.autoResumeSng
|
||||
assert not (alpha_long.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
|
||||
|
||||
disable_calls = []
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: disable_calls.append((args, kwargs)))
|
||||
CarInterface.init(alpha_long, None, None)
|
||||
assert not disable_calls
|
||||
|
||||
|
||||
def test_dormant_leaf_2025_sv_plus_alpha_long_params(experimental_leaf_long):
|
||||
def test_leaf_2025_sv_plus_alpha_long_params():
|
||||
stock = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, False, False, False, None)
|
||||
alpha_long = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
|
||||
|
||||
@@ -107,29 +77,23 @@ def test_stock_controller_does_not_send_longitudinal_messages():
|
||||
assert not ({0x2B0, 0x1C3, 0x707} & can_sends.keys())
|
||||
|
||||
|
||||
def test_disabled_alpha_long_controller_does_not_send_longitudinal_messages():
|
||||
can_sends = run_controller(True)
|
||||
|
||||
assert not ({0x2B0, 0x1C3, 0x707} & can_sends.keys())
|
||||
|
||||
|
||||
def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive(experimental_leaf_long):
|
||||
def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive():
|
||||
can_sends = run_controller(True)
|
||||
|
||||
assert can_sends[0x2B0][1].hex() == "ff6090ac5b000e03"
|
||||
assert can_sends[0x1C3][1].hex() == "000000006400ff27"
|
||||
assert can_sends[0x707][1].hex() == "023e010000000000"
|
||||
assert can_sends[0x707][1].hex() == "023e800000000000"
|
||||
assert all(can_sends[addr][2] == 1 for addr in (0x2B0, 0x1C3))
|
||||
assert can_sends[0x707][2] == 0
|
||||
|
||||
|
||||
def test_alpha_long_controller_clamps_to_panda_accel_limit(experimental_leaf_long):
|
||||
def test_alpha_long_controller_clamps_to_panda_accel_limit():
|
||||
can_sends = run_controller(True, accel=5.0)
|
||||
|
||||
assert can_sends[0x2B0][1].hex() == "007f8fac5b000e0c"
|
||||
|
||||
|
||||
def test_alpha_long_controller_blends_friction_brake_below_regen_limit(experimental_leaf_long):
|
||||
def test_alpha_long_controller_blends_friction_brake_below_regen_limit():
|
||||
can_sends = run_controller(True, accel=-2.0)
|
||||
|
||||
assert can_sends[0x2B0][1].hex() == "a827d5ac5b000e09"
|
||||
@@ -138,7 +102,7 @@ def test_alpha_long_controller_blends_friction_brake_below_regen_limit(experimen
|
||||
assert brake[5] & 0x84 == 0x84
|
||||
|
||||
|
||||
def test_alpha_long_controller_sends_inactive_commands_when_disengaged(experimental_leaf_long):
|
||||
def test_alpha_long_controller_sends_inactive_commands_when_disengaged():
|
||||
can_sends = run_controller(True, accel=1.0, long_active=False)
|
||||
|
||||
assert can_sends[0x2B0][1].hex() == "dc53a2ac1b000e03"
|
||||
@@ -147,7 +111,7 @@ def test_alpha_long_controller_sends_inactive_commands_when_disengaged(experimen
|
||||
|
||||
@pytest.mark.parametrize(("signal", "button_type"), [("SET_BUTTON", ButtonType.decelCruise),
|
||||
("RES_BUTTON", ButtonType.accelCruise)])
|
||||
def test_leaf_set_resume_release_enables_alpha_long(signal, button_type, experimental_leaf_long):
|
||||
def test_leaf_set_resume_release_enables_alpha_long(signal, button_type):
|
||||
CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, TEST_TOGGLES)
|
||||
FPCP = CarInterface.get_starpilot_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, CP, TEST_TOGGLES)
|
||||
CS = CarState(CP, FPCP)
|
||||
@@ -164,7 +128,7 @@ def test_leaf_set_resume_release_enables_alpha_long(signal, button_type, experim
|
||||
|
||||
|
||||
@pytest.mark.parametrize("ecu_disabled", [False, True])
|
||||
def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled, experimental_leaf_long):
|
||||
def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
|
||||
CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
|
||||
calls = []
|
||||
|
||||
@@ -173,92 +137,33 @@ def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled, ex
|
||||
return ecu_disabled
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", fake_disable_ecu)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: ecu_disabled)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.restore_leaf_adas_tx", lambda *_: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
CarInterface.init(CP, None, None)
|
||||
|
||||
assert len(calls) == 1
|
||||
assert len(calls) == (1 if ecu_disabled else 2)
|
||||
assert calls[0]["addr"] == 0x707
|
||||
assert calls[0]["bus"] == 0
|
||||
assert calls[0]["response_offset"] == 0x20
|
||||
assert calls[0]["require_response"] is False
|
||||
assert calls[0]["diag_request"] == b"\x10\xc0"
|
||||
assert calls[0]["diag_response"] == b"\x50\xc0"
|
||||
assert calls[0]["com_cont_req"] == b"\x28\x02"
|
||||
assert calls[0]["retry"] == 1
|
||||
assert calls[0]["require_response"] is True
|
||||
assert calls[0]["com_cont_req"] == bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
|
||||
uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
|
||||
uds.MESSAGE_TYPE.NORMAL])
|
||||
if not ecu_disabled:
|
||||
assert calls[1]["diag_request"] == b"\x10\x81"
|
||||
assert calls[1]["diag_response"] == b"\x50\x81"
|
||||
assert CP.openpilotLongitudinalControl is ecu_disabled
|
||||
assert CP.pcmCruise is not ecu_disabled
|
||||
assert bool(CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL) is ecu_disabled
|
||||
|
||||
|
||||
def test_leaf_kwp_no_response_disable_can_confirm_ecu_silence(monkeypatch, experimental_leaf_long):
|
||||
def test_leaf_kwp_session_can_confirm_ecu_disable(monkeypatch):
|
||||
CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
|
||||
results = iter((False, True))
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: next(results))
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
CarInterface.init(CP, None, None)
|
||||
|
||||
assert CP.openpilotLongitudinalControl
|
||||
assert not CP.pcmCruise
|
||||
assert CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL
|
||||
|
||||
|
||||
def test_leaf_positive_disable_response_without_command_silence_falls_back(monkeypatch, experimental_leaf_long):
|
||||
CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
|
||||
restore_calls = []
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: False)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.restore_leaf_adas_tx", lambda *args: restore_calls.append(args) or True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
CarInterface.init(CP, None, None)
|
||||
|
||||
assert len(restore_calls) == 1
|
||||
assert not CP.openpilotLongitudinalControl
|
||||
assert CP.pcmCruise
|
||||
assert not (CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
|
||||
|
||||
|
||||
def test_leaf_adas_command_silence_requires_live_bus_without_stock_commands(monkeypatch):
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
|
||||
def unrelated_bus_traffic(wait_for_one=False):
|
||||
return [] if not wait_for_one else [[CanData(0x123, b"\x00", 1)]]
|
||||
|
||||
assert leaf_adas_commands_silent(unrelated_bus_traffic, settle_time=0, observe_time=0.001)
|
||||
|
||||
def stock_command_traffic(wait_for_one=False):
|
||||
return [] if not wait_for_one else [[CanData(0x2B0, b"\x00" * 8, 1)]]
|
||||
|
||||
assert not leaf_adas_commands_silent(stock_command_traffic, settle_time=0, observe_time=0.001)
|
||||
assert not leaf_adas_commands_silent(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
|
||||
|
||||
|
||||
def test_leaf_adas_command_recovery_requires_stock_command(monkeypatch):
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
|
||||
def stock_command_traffic(wait_for_one=False):
|
||||
return [] if not wait_for_one else [[CanData(0x1C3, b"\x00" * 8, 1)]]
|
||||
|
||||
assert leaf_adas_commands_present(stock_command_traffic, settle_time=0, observe_time=0.001)
|
||||
assert not leaf_adas_commands_present(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
|
||||
|
||||
|
||||
def test_leaf_adas_restore_returns_to_kwp_default_session(monkeypatch):
|
||||
queries = []
|
||||
|
||||
class FakeQuery:
|
||||
def __init__(self, can_send, can_recv, bus, addrs, request, response, response_offset):
|
||||
queries.append((bus, addrs, request, response, response_offset))
|
||||
|
||||
def get_data(self, timeout):
|
||||
return {(0x707, None): b""}
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.IsoTpParallelQuery", FakeQuery)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_present", lambda *_: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
|
||||
assert restore_leaf_adas_tx(lambda **kwargs: [], lambda msgs: None)
|
||||
assert queries == [(0, [0x707], [b"\x10\x81"], [b"\x50\x81"], 0x20)]
|
||||
|
||||
@@ -22,14 +22,14 @@ _LEGACY_2025_REENGAGE_MAX_STEER_RATE = 2.0
|
||||
_LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA = 1.0
|
||||
_LEGACY_2025_RECLAIM_FRAMES = 36
|
||||
_LEGACY_2025_RECLAIM_EXPONENT = 2.5
|
||||
_ANGLE_OVERRIDE_HOLD_FRAMES = 10
|
||||
_ANGLE_REENGAGE_SETTLE_FRAMES = 8
|
||||
_ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
|
||||
_ANGLE_REENGAGE_MAX_ANGLE_DELTA = 1.0
|
||||
_ANGLE_RECLAIM_FRAMES = 36
|
||||
_ANGLE_RECLAIM_EXPONENT = 2.5
|
||||
_ANGLE_MADS_MIN_SPEED = 0.44704
|
||||
_ANGLE_MADS_MAX_STEER_ANGLE = 120.0
|
||||
_ASCENT_OVERRIDE_HOLD_FRAMES = 10
|
||||
_ASCENT_REENGAGE_SETTLE_FRAMES = 8
|
||||
_ASCENT_REENGAGE_MAX_STEER_RATE = 2.0
|
||||
_ASCENT_REENGAGE_MAX_ANGLE_DELTA = 1.0
|
||||
_ASCENT_RECLAIM_FRAMES = 36
|
||||
_ASCENT_RECLAIM_EXPONENT = 2.5
|
||||
_ASCENT_MADS_MIN_SPEED = 0.44704
|
||||
_ASCENT_MADS_MAX_STEER_ANGLE = 120.0
|
||||
|
||||
|
||||
def get_safety_CP():
|
||||
@@ -50,13 +50,13 @@ class CarController(CarControllerBase):
|
||||
self.legacy_2025_reengage_reference_angle = 0.0
|
||||
self.legacy_2025_reclaim_frames = 0
|
||||
self.legacy_2025_reclaim_start_angle = 0.0
|
||||
self.angle_lkas_active = False
|
||||
self.angle_handoff_active = False
|
||||
self.angle_override_hold_frames = 0
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reengage_reference_angle = 0.0
|
||||
self.angle_reclaim_frames = 0
|
||||
self.angle_reclaim_start_angle = 0.0
|
||||
self.ascent_lkas_active = False
|
||||
self.ascent_handoff_active = False
|
||||
self.ascent_override_hold_frames = 0
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reengage_reference_angle = 0.0
|
||||
self.ascent_reclaim_frames = 0
|
||||
self.ascent_reclaim_start_angle = 0.0
|
||||
|
||||
self.cruise_button_prev = 0
|
||||
self.steer_rate_counter = 0
|
||||
@@ -137,67 +137,67 @@ class CarController(CarControllerBase):
|
||||
self.legacy_2025_reclaim_frames -= 1
|
||||
return target_angle
|
||||
|
||||
def _reset_angle_handoff(self):
|
||||
self.angle_handoff_active = False
|
||||
self.angle_override_hold_frames = 0
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reengage_reference_angle = 0.0
|
||||
self.angle_reclaim_frames = 0
|
||||
self.angle_reclaim_start_angle = 0.0
|
||||
def _reset_ascent_handoff(self):
|
||||
self.ascent_handoff_active = False
|
||||
self.ascent_override_hold_frames = 0
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reengage_reference_angle = 0.0
|
||||
self.ascent_reclaim_frames = 0
|
||||
self.ascent_reclaim_start_angle = 0.0
|
||||
|
||||
def _angle_manual_handoff(self, CS, lat_active):
|
||||
def _ascent_manual_handoff(self, CS, lat_active):
|
||||
if not lat_active:
|
||||
self._reset_angle_handoff()
|
||||
self._reset_ascent_handoff()
|
||||
return False
|
||||
|
||||
if CS.out.steeringPressed:
|
||||
self.angle_handoff_active = True
|
||||
self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
self.angle_reclaim_frames = 0
|
||||
self.ascent_handoff_active = True
|
||||
self.ascent_override_hold_frames = _ASCENT_OVERRIDE_HOLD_FRAMES
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
self.ascent_reclaim_frames = 0
|
||||
return True
|
||||
|
||||
if not self.angle_handoff_active and not self.angle_lkas_active and \
|
||||
abs(CS.out.steeringRateDeg) > _ANGLE_REENGAGE_MAX_STEER_RATE:
|
||||
self.angle_handoff_active = True
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
if not self.ascent_handoff_active and not self.ascent_lkas_active and \
|
||||
abs(CS.out.steeringRateDeg) > _ASCENT_REENGAGE_MAX_STEER_RATE:
|
||||
self.ascent_handoff_active = True
|
||||
self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
|
||||
if not self.angle_handoff_active:
|
||||
if not self.ascent_handoff_active:
|
||||
return False
|
||||
|
||||
if self.angle_override_hold_frames > 0:
|
||||
self.angle_override_hold_frames -= 1
|
||||
if self.angle_override_hold_frames == 0:
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
if self.ascent_override_hold_frames > 0:
|
||||
self.ascent_override_hold_frames -= 1
|
||||
if self.ascent_override_hold_frames == 0:
|
||||
self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
return True
|
||||
|
||||
wheel_stable = abs(CS.out.steeringRateDeg) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
|
||||
abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
|
||||
wheel_stable = abs(CS.out.steeringRateDeg) <= _ASCENT_REENGAGE_MAX_STEER_RATE and \
|
||||
abs(CS.out.steeringAngleDeg - self.ascent_reengage_reference_angle) <= _ASCENT_REENGAGE_MAX_ANGLE_DELTA
|
||||
if wheel_stable:
|
||||
self.angle_reengage_settle_frames += 1
|
||||
self.ascent_reengage_settle_frames += 1
|
||||
else:
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
|
||||
if self.angle_reengage_settle_frames < _ANGLE_REENGAGE_SETTLE_FRAMES:
|
||||
if self.ascent_reengage_settle_frames < _ASCENT_REENGAGE_SETTLE_FRAMES:
|
||||
return True
|
||||
|
||||
self.angle_handoff_active = False
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reclaim_frames = _ANGLE_RECLAIM_FRAMES
|
||||
self.angle_reclaim_start_angle = CS.out.steeringAngleDeg
|
||||
self.ascent_handoff_active = False
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reclaim_frames = _ASCENT_RECLAIM_FRAMES
|
||||
self.ascent_reclaim_start_angle = CS.out.steeringAngleDeg
|
||||
return True
|
||||
|
||||
def _angle_reclaim_target(self, target_angle):
|
||||
if self.angle_reclaim_frames <= 0:
|
||||
def _ascent_reclaim_target(self, target_angle):
|
||||
if self.ascent_reclaim_frames <= 0:
|
||||
return target_angle
|
||||
|
||||
progress = (_ANGLE_RECLAIM_FRAMES - self.angle_reclaim_frames + 1) / _ANGLE_RECLAIM_FRAMES
|
||||
eased_progress = progress ** _ANGLE_RECLAIM_EXPONENT
|
||||
target_angle = self.angle_reclaim_start_angle + eased_progress * \
|
||||
(target_angle - self.angle_reclaim_start_angle)
|
||||
self.angle_reclaim_frames -= 1
|
||||
progress = (_ASCENT_RECLAIM_FRAMES - self.ascent_reclaim_frames + 1) / _ASCENT_RECLAIM_FRAMES
|
||||
eased_progress = progress ** _ASCENT_RECLAIM_EXPONENT
|
||||
target_angle = self.ascent_reclaim_start_angle + eased_progress * \
|
||||
(target_angle - self.ascent_reclaim_start_angle)
|
||||
self.ascent_reclaim_frames -= 1
|
||||
return target_angle
|
||||
|
||||
def lateral_angle(self, CC, CS):
|
||||
@@ -224,41 +224,30 @@ class CarController(CarControllerBase):
|
||||
self.legacy_2025_lkas_active = lkas_active
|
||||
return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
|
||||
|
||||
if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
|
||||
if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
|
||||
mads_only = CC.latActive and not CC.enabled
|
||||
mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
|
||||
abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
|
||||
mads_only_ok = CS.out.vEgoRaw > _ASCENT_MADS_MIN_SPEED and \
|
||||
abs(CS.out.steeringAngleDeg) < _ASCENT_MADS_MAX_STEER_ANGLE
|
||||
lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
|
||||
CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
|
||||
|
||||
manual_handoff = self._angle_manual_handoff(CS, lkas_available)
|
||||
manual_handoff = self._ascent_manual_handoff(CS, lkas_available)
|
||||
lkas_active = lkas_available and not manual_handoff
|
||||
|
||||
if lkas_active and not self.angle_lkas_active:
|
||||
if lkas_active and not self.ascent_lkas_active:
|
||||
self.apply_steer_last = CS.out.steeringAngleDeg
|
||||
|
||||
steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
|
||||
if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
|
||||
apply_steer = apply_std_steer_angle_limits(
|
||||
steer_target,
|
||||
self.apply_steer_last,
|
||||
CS.out.vEgoRaw,
|
||||
CS.out.steeringAngleDeg,
|
||||
lkas_active,
|
||||
self.p.FIXED_ANGLE_LIMITS,
|
||||
)
|
||||
else:
|
||||
apply_steer = apply_steer_angle_limits_vm(
|
||||
steer_target,
|
||||
self.apply_steer_last,
|
||||
CS.out.vEgoRaw,
|
||||
CS.out.steeringAngleDeg,
|
||||
lkas_active,
|
||||
self.p,
|
||||
self.VM,
|
||||
)
|
||||
steer_target = self._ascent_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
|
||||
apply_steer = apply_std_steer_angle_limits(
|
||||
steer_target,
|
||||
self.apply_steer_last,
|
||||
CS.out.vEgoRaw,
|
||||
CS.out.steeringAngleDeg,
|
||||
lkas_active,
|
||||
self.p.FIXED_ANGLE_LIMITS,
|
||||
)
|
||||
self.apply_steer_last = apply_steer
|
||||
self.angle_lkas_active = lkas_active
|
||||
self.ascent_lkas_active = lkas_active
|
||||
return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
|
||||
|
||||
abs_torque = abs(CS.out.steeringTorque)
|
||||
|
||||
@@ -51,8 +51,6 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if ret.flags & SubaruFlags.LKAS_ANGLE:
|
||||
ret.steerControlType = structs.CarParams.SteerControlType.angle
|
||||
if candidate == CAR.SUBARU_OUTBACK_2023:
|
||||
ret.lateralSmoothSeconds = 0.4
|
||||
|
||||
elif candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
|
||||
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
|
||||
|
||||
@@ -202,7 +202,6 @@ def test_outback_2023_uses_d_platform_bus_layout():
|
||||
assert parsers[Bus.main].bus == CanBus.main
|
||||
assert controller.angle_bus == CanBus.main
|
||||
assert controller.status_bus == CanBus.main
|
||||
assert CP.lateralSmoothSeconds == pytest.approx(0.4)
|
||||
|
||||
|
||||
def test_legacy_2025_uses_gen2_angle_bus_layout():
|
||||
@@ -429,24 +428,14 @@ def test_angle_controller_tracks_driver_override():
|
||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
|
||||
controller = CarController({}, CP)
|
||||
CC = SimpleNamespace(latActive=True, actuators=SimpleNamespace(steeringAngleDeg=15.0))
|
||||
CS = SimpleNamespace(out=SimpleNamespace(vEgoRaw=15.0, steeringAngleDeg=2.0, steeringTorque=175.0))
|
||||
CS = SimpleNamespace(out=SimpleNamespace(vEgoRaw=15.0, steeringAngleDeg=2.0, steeringTorque=250.0))
|
||||
|
||||
msg = controller.lateral_angle(CC, CS)
|
||||
|
||||
assert controller.driver_override
|
||||
assert controller.p.STEER_OVERRIDE_TORQUE_HIGH == 150
|
||||
assert controller.p.STEER_OVERRIDE_TORQUE_LOW == 100
|
||||
assert controller.apply_steer_last == CS.out.steeringAngleDeg
|
||||
assert msg[0] == 0x124
|
||||
|
||||
CS.out.steeringTorque = 125.0
|
||||
controller.lateral_angle(CC, CS)
|
||||
assert controller.driver_override
|
||||
|
||||
CS.out.steeringTorque = 75.0
|
||||
controller.lateral_angle(CC, CS)
|
||||
assert not controller.driver_override
|
||||
|
||||
|
||||
def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
|
||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
|
||||
@@ -469,9 +458,8 @@ def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
|
||||
assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -25.0
|
||||
|
||||
|
||||
@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
|
||||
def test_angle_controller_yields_until_manual_steering_settles(platform):
|
||||
CP = CarInterface.get_non_essential_params(platform)
|
||||
def test_ascent_angle_controller_yields_until_manual_steering_settles():
|
||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
|
||||
controller = CarController({}, CP)
|
||||
CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
|
||||
CS = SimpleNamespace(out=SimpleNamespace(
|
||||
|
||||
@@ -37,11 +37,6 @@ class CarControllerParams:
|
||||
self.STEER_OVERRIDE_TORQUE_HIGH = 200
|
||||
self.STEER_OVERRIDE_TORQUE_LOW = 150
|
||||
|
||||
# Crosstrek 2025 reports manual parking-lot inputs below the generic handoff threshold.
|
||||
if CP.carFingerprint == CAR.SUBARU_CROSSTREK_2025:
|
||||
self.STEER_OVERRIDE_TORQUE_HIGH = 150
|
||||
self.STEER_OVERRIDE_TORQUE_LOW = 100
|
||||
|
||||
if CP.flags & SubaruFlags.GLOBAL_GEN2:
|
||||
# TODO: lower rate limits, this reaches min/max in 0.5s which negatively affects tuning
|
||||
self.STEER_MAX = 1500
|
||||
|
||||
@@ -85,12 +85,6 @@ non_tested_cars = [
|
||||
TESLA.TESLA_MODEL_S_PREAP,
|
||||
TOYOTA.TOYOTA_MATRIX_RETROFIT,
|
||||
VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter
|
||||
VOLKSWAGEN.VOLKSWAGEN_ID3_MK1,
|
||||
VOLKSWAGEN.VOLKSWAGEN_ID3_MK2,
|
||||
VOLKSWAGEN.AUDI_Q4_MK1,
|
||||
VOLKSWAGEN.AUDI_Q4_MK2,
|
||||
VOLKSWAGEN.SKODA_ENYAQ_MK1,
|
||||
VOLKSWAGEN.SKODA_ENYAQ_MK2,
|
||||
SUBARU.SUBARU_FORESTER_HYBRID,
|
||||
SUBARU.SUBARU_CROSSTREK_2025,
|
||||
VOLKSWAGEN.PORSCHE_MACAN_MK1,
|
||||
@@ -354,8 +348,6 @@ routes = [
|
||||
CarTestRoute("202c40641158a6e5/2021-09-21--09-43-24", VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1),
|
||||
CarTestRoute("2c68dda277d887ac/2021-05-11--15-22-20", VOLKSWAGEN.VOLKSWAGEN_ATLAS_MK1),
|
||||
CarTestRoute("ffcd23abbbd02219/2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3),
|
||||
CarTestRoute("aebd8f1d4ea16066/00000009--b31e222338", VOLKSWAGEN.VOLKSWAGEN_ID4_MK1),
|
||||
CarTestRoute("f73c01590368ee5b/00000aea--dc31ef6d5f", VOLKSWAGEN.VOLKSWAGEN_ID4_MK2),
|
||||
CarTestRoute("cae14e88932eb364/2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7), # Stock ACC
|
||||
CarTestRoute("3cfdec54aa035f3f/2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7), # openpilot longitudinal
|
||||
CarTestRoute("578742b26807f756|00000010--41ee3e5bec", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK6),
|
||||
@@ -375,7 +367,6 @@ routes = [
|
||||
CarTestRoute("0cd0b7f7e31a3853/2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
|
||||
CarTestRoute("8f205bdd11bcbb65/2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
|
||||
CarTestRoute("fc6b6c9a3471c846/2021-05-27--13-39-56", VOLKSWAGEN.SEAT_ATECA_MK1), # Leon
|
||||
CarTestRoute("d4dd69160a48f11f/00000003--9cfe00cb74", VOLKSWAGEN.CUPRA_BORN_MK1),
|
||||
CarTestRoute("0bbe367c98fa1538/2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
|
||||
CarTestRoute("12d6ae3057c04b0d/2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
|
||||
CarTestRoute("12d6ae3057c04b0d/2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
|
||||
|
||||
@@ -27,7 +27,7 @@ class TestCanFingerprint:
|
||||
fingerprint_iter = iter([can])
|
||||
car_fingerprint, finger = can_fingerprint(lambda **kwargs: [next(fingerprint_iter, [])]) # noqa: B023
|
||||
|
||||
if car_model in (TOYOTA.TOYOTA_MATRIX_RETROFIT, TOYOTA.TOYOTA_PRIUS_RETROFIT):
|
||||
if car_model == TOYOTA.TOYOTA_MATRIX_RETROFIT:
|
||||
assert fingerprint == {}
|
||||
assert car_fingerprint is None
|
||||
elif car_fingerprint is None and str(car_model).startswith(("BUICK_", "CADILLAC_", "CHEVROLET_", "GMC_", "HOLDEN_")):
|
||||
|
||||
@@ -74,6 +74,7 @@ def get_test_starpilot_toggles() -> SimpleNamespace:
|
||||
disable_openpilot_long=False,
|
||||
force_fingerprint=False,
|
||||
lock_doors=False,
|
||||
reverse_cruise_increase=False,
|
||||
sng_hack=False,
|
||||
subaru_sng=False,
|
||||
subaru_sng_manual_parking_brake=False,
|
||||
@@ -164,18 +165,13 @@ class TestCarInterfaces:
|
||||
"Center_Stack_2": {"LKAS_Button": 1},
|
||||
}, is_ram=True)
|
||||
|
||||
@pytest.mark.parametrize("candidate", (
|
||||
CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
|
||||
CHRYSLER_CAR.JEEP_GRAND_CHEROKEE,
|
||||
CHRYSLER_CAR.JEEP_GRAND_CHEROKEE_2019,
|
||||
))
|
||||
def test_chrysler_steer_to_zero_module(self, candidate):
|
||||
def test_chrysler_wd_mod_enables_steer_to_zero(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
fingerprint[0][0x4FF] = 8
|
||||
toggles = get_test_starpilot_toggles()
|
||||
|
||||
car_params = ChryslerCarInterface.get_params(
|
||||
candidate,
|
||||
CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
|
||||
fingerprint,
|
||||
[],
|
||||
alpha_long=False,
|
||||
@@ -186,7 +182,7 @@ class TestCarInterfaces:
|
||||
assert car_params.minSteerSpeed > 0.
|
||||
|
||||
fp_car_params = ChryslerCarInterface.get_starpilot_params(
|
||||
candidate,
|
||||
CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
|
||||
fingerprint,
|
||||
[],
|
||||
car_params,
|
||||
@@ -210,14 +206,11 @@ class TestCarInterfaces:
|
||||
button_message="CRUISE_BUTTONS",
|
||||
auto_high_beam=0,
|
||||
)
|
||||
controller.update(CC, CS, 0, toggles)
|
||||
controller.update(CC, CS, 0, toggles)
|
||||
_, can_sends = controller.update(CC, CS, 0, toggles)
|
||||
|
||||
lkas_parser = CANParser(CHRYSLER_DBC[car_params.carFingerprint][Bus.pt], [("LKAS_COMMAND", 50)], 0)
|
||||
lkas_parser.update([0, can_sends])
|
||||
assert lkas_parser.vl["LKAS_COMMAND"]["LKAS_CONTROL_BIT"] == 1
|
||||
assert lkas_parser.vl["LKAS_COMMAND"]["STEERING_TORQUE"] != 0
|
||||
|
||||
@pytest.mark.parametrize("candidate", (CHRYSLER_CAR.JEEP_GRAND_CHEROKEE, CHRYSLER_CAR.JEEP_GRAND_CHEROKEE_2019))
|
||||
def test_jeep_brake_hold_safety_capability_is_provisioned(self, candidate):
|
||||
|
||||
@@ -5,20 +5,9 @@ from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.docs import get_all_car_docs
|
||||
from opendbc.car.docs_definitions import Cable, Column, PartType, Star, SupportType
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from opendbc.car.values import PLATFORMS
|
||||
|
||||
|
||||
# These platform IDs use different messages or DBCs, but are represented by the
|
||||
# same customer-facing model rows as their base platforms.
|
||||
DOCUMENTED_PLATFORM_ALIASES = {
|
||||
HONDA.HONDA_CIVIC_BOSCH_DIESEL: HONDA.HONDA_CIVIC_BOSCH,
|
||||
HONDA.HONDA_CRV_EU: HONDA.HONDA_CRV,
|
||||
HONDA.HONDA_CRV_SA: HONDA.HONDA_CRV,
|
||||
HONDA.HONDA_E_ADVANCE: HONDA.HONDA_E,
|
||||
}
|
||||
|
||||
|
||||
class TestCarDocs:
|
||||
@classmethod
|
||||
def setup_class(cls):
|
||||
@@ -37,17 +26,10 @@ class TestCarDocs:
|
||||
make_model_years[make_model].append(year)
|
||||
|
||||
def test_missing_car_docs(self, subtests):
|
||||
documented_platforms = {car.car_fingerprint for car in self.all_cars}
|
||||
all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
|
||||
for platform in sorted(interfaces.keys()):
|
||||
with subtests.test(platform=platform):
|
||||
assert platform in PLATFORMS, f"Platform: {platform} isn't registered"
|
||||
if platform in DOCUMENTED_PLATFORM_ALIASES:
|
||||
assert DOCUMENTED_PLATFORM_ALIASES[platform] in documented_platforms, \
|
||||
f"Platform: {platform} has no documented base platform"
|
||||
continue
|
||||
if platform == MOCK.MOCK:
|
||||
continue
|
||||
assert platform in documented_platforms, f"Platform: {platform} doesn't have a generated CarDocs entry"
|
||||
assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry"
|
||||
|
||||
def test_naming_conventions(self, subtests):
|
||||
# Asserts market-standard car naming conventions by brand
|
||||
|
||||
@@ -32,9 +32,6 @@ class TestFwFingerprint:
|
||||
[(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
|
||||
def test_exact_match(self, brand, car_model, ecus, test_non_essential):
|
||||
config = FW_QUERY_CONFIGS[brand]
|
||||
if car_model in config.fuzzy_only_platforms:
|
||||
pytest.skip("Platform requires VIN-aware fuzzy matching")
|
||||
|
||||
CP = CarParams()
|
||||
for _ in range(20):
|
||||
fw = []
|
||||
|
||||
@@ -28,15 +28,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"TESLA_MODEL_X" = [nan, 2.5, nan]
|
||||
|
||||
# Guess
|
||||
"VOLKSWAGEN_ID3_MK1" = [nan, 2.5, nan]
|
||||
"VOLKSWAGEN_ID3_MK2" = [nan, 2.5, nan]
|
||||
"VOLKSWAGEN_ID4_MK1" = [nan, 2.5, nan]
|
||||
"VOLKSWAGEN_ID4_MK2" = [nan, 2.5, nan]
|
||||
"AUDI_Q4_MK1" = [nan, 2.5, nan]
|
||||
"AUDI_Q4_MK2" = [nan, 2.5, nan]
|
||||
"CUPRA_BORN_MK1" = [nan, 2.5, nan]
|
||||
"SKODA_ENYAQ_MK1" = [nan, 2.5, nan]
|
||||
"SKODA_ENYAQ_MK2" = [nan, 2.5, nan]
|
||||
"FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
|
||||
"FORD_ESCAPE_MK4" = [nan, 1.5, nan]
|
||||
"FORD_ESCAPE_MK4_5" = [nan, 1.5, nan]
|
||||
@@ -126,13 +117,12 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
|
||||
"GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
|
||||
"GENESIS_GV70_ELECTRIFIED_2ND_GEN" = [nan, 2.5, nan]
|
||||
"GENESIS_GV70_2026" = [nan, 2.5, nan]
|
||||
"GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
|
||||
"GENESIS_GV80_2025" = [nan, 2.5, nan]
|
||||
# Note that some Rivians achieve significantly less lateral acceleration than this
|
||||
"RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
|
||||
"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
|
||||
"HONDA_ACCORD_11G" = [3.0, 1.35, 0.16]
|
||||
"HONDA_ACCORD_11G" = [1.35, 1.35, 0.17]
|
||||
"HONDA_PILOT_4G" = [1.25, 1.25, 0.21]
|
||||
"HONDA_PASSPORT_4G" = [1.2, 1.2, 0.16]
|
||||
"ACURA_MDX_4G_MMR" = [1.25, 1.25, 0.15]
|
||||
|
||||
@@ -9,7 +9,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
|
||||
"TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
|
||||
"TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
|
||||
"TOYOTA_PRIUS_RETROFIT" = "TOYOTA_PRIUS"
|
||||
"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_PRIME"
|
||||
"LEXUS_IS" = "LEXUS_NX"
|
||||
"LEXUS_CTH" = "LEXUS_NX"
|
||||
|
||||
@@ -11,7 +11,7 @@ from opendbc.car.interfaces import CarControllerBase
|
||||
from opendbc.car.toyota import toyotacan
|
||||
from opendbc.car.toyota.values import CAR, MIN_ACC_SPEED, NO_STOP_TIMER_CAR, PEDAL_TRANSITION, TSS2_CAR, \
|
||||
CarControllerParams, ToyotaFlags, \
|
||||
UNSUPPORTED_DSU_CAR, LEGACY_PRIUS_CAR
|
||||
UNSUPPORTED_DSU_CAR
|
||||
from opendbc.can import CANPacker
|
||||
|
||||
Ecu = structs.CarParams.Ecu
|
||||
@@ -59,17 +59,13 @@ def is_camry_hybrid(CP) -> bool:
|
||||
|
||||
|
||||
def is_ths_hybrid(CP) -> bool:
|
||||
return CP.carFingerprint in LEGACY_PRIUS_CAR or is_camry_hybrid(CP)
|
||||
return CP.carFingerprint == CAR.TOYOTA_PRIUS or is_camry_hybrid(CP)
|
||||
|
||||
|
||||
def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
|
||||
highlander_sdsu = (
|
||||
CP.carFingerprint == CAR.TOYOTA_HIGHLANDER and
|
||||
bool(getattr(starpilot_toggles, "has_sdsu", False))
|
||||
)
|
||||
def should_bypass_toyota_long_pid(CP) -> bool:
|
||||
return bool(CP.enableGasInterceptorDEPRECATED or (
|
||||
CP.carFingerprint == CAR.TOYOTA_CAMRY and not is_camry_hybrid(CP)
|
||||
) or highlander_sdsu)
|
||||
))
|
||||
|
||||
|
||||
def get_long_tune(CP, params):
|
||||
@@ -78,7 +74,7 @@ def get_long_tune(CP, params):
|
||||
k_f = 1.0
|
||||
|
||||
if is_ths_hybrid(CP):
|
||||
k_f = 0.8 if CP.carFingerprint in LEGACY_PRIUS_CAR else 1.0
|
||||
k_f = 0.8 if CP.carFingerprint == CAR.TOYOTA_PRIUS else 1.0
|
||||
elif CP.carFingerprint not in TSS2_CAR:
|
||||
kiBP = [0., 5., 35.]
|
||||
kiV = [3.6, 2.4, 1.5]
|
||||
@@ -458,7 +454,7 @@ class CarController(CarControllerBase):
|
||||
a_ego_future = a_ego_blended + j_ego * future_t
|
||||
|
||||
if CC.longActive:
|
||||
if should_bypass_toyota_long_pid(self.CP, starpilot_toggles):
|
||||
if should_bypass_toyota_long_pid(self.CP):
|
||||
# Pedal/SDSU Toyotas have shown better behavior when we trust the planner
|
||||
# target directly instead of letting the Toyota longitudinal PID swing it
|
||||
# around. Keep the shared rate limits above, but bypass the extra
|
||||
@@ -481,7 +477,7 @@ class CarController(CarControllerBase):
|
||||
pcm_accel_cmd += pitch_compensation
|
||||
|
||||
feedforward = pcm_accel_cmd
|
||||
if self.CP.carFingerprint in LEGACY_PRIUS_CAR:
|
||||
if self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
|
||||
feedforward = get_prius_feedforward(feedforward, CS.out.vEgo)
|
||||
elif is_camry_hybrid(self.CP) and feedforward > 0.0:
|
||||
# Preserve the established Camry Hybrid acceleration response while
|
||||
@@ -511,15 +507,19 @@ class CarController(CarControllerBase):
|
||||
else:
|
||||
pcm_accel_cmd = limit_no_lead_cruise_sign_flip(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo,
|
||||
CS.out.cruiseState.speed, bool(hud_control.leadVisible))
|
||||
if self.CP.carFingerprint in LEGACY_PRIUS_CAR:
|
||||
if self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
|
||||
pcm_accel_cmd = limit_prius_stopping_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo, lead)
|
||||
|
||||
pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
|
||||
|
||||
main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
|
||||
# Toyota's physical distance-button hold can collide with StarPilot's wheel-button
|
||||
# actions and trip a temporary EPS fault. Suppress native long-press handling while
|
||||
# the physical gap button is held so ACC only sees the hold as a plain button press.
|
||||
allow_long_press = 0 if bool(getattr(CS, "distance_button", False)) else None
|
||||
can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
|
||||
CS.acc_type, fcw_alert, self.distance_button,
|
||||
getattr(starpilot_toggles, "reverse_cruise_increase", False)))
|
||||
CS.acc_type, fcw_alert, self.distance_button, starpilot_toggles.reverse_cruise_increase,
|
||||
allow_long_press))
|
||||
if self.CP.flags & ToyotaFlags.SECOC.value:
|
||||
acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
|
||||
acc_cmd_2 = add_mac(self.secoc_key,
|
||||
@@ -538,9 +538,9 @@ class CarController(CarControllerBase):
|
||||
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
|
||||
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
|
||||
else:
|
||||
allow_long_press = 0 if bool(getattr(CS, "distance_button", False)) else None
|
||||
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False,
|
||||
self.distance_button,
|
||||
getattr(starpilot_toggles, "reverse_cruise_increase", False)))
|
||||
self.distance_button, starpilot_toggles.reverse_cruise_increase, allow_long_press))
|
||||
|
||||
# *** hud ui ***
|
||||
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
|
||||
|
||||
@@ -8,7 +8,7 @@ from opendbc.car.common.filter_simple import FirstOrderFilter
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
from opendbc.car.toyota.values import ToyotaFlags, ToyotaStarPilotFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
|
||||
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
|
||||
SECOC_CAR, LEGACY_PRIUS_CAR
|
||||
SECOC_CAR
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
SteerControlType = structs.CarParams.SteerControlType
|
||||
@@ -23,8 +23,7 @@ TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
|
||||
# - lka/lta msg drop out: 3 (recoverable)
|
||||
# - prolonged high driver torque: 17 (permanent)
|
||||
PERM_STEER_FAULTS = (3, 17)
|
||||
LKAS_BUTTON_CAR = TSS2_CAR | LEGACY_PRIUS_CAR
|
||||
DISTANCE_BUTTON_CAR = {CAR.TOYOTA_SIENNA_4TH_GEN}
|
||||
LKAS_BUTTON_CAR = TSS2_CAR | {CAR.TOYOTA_PRIUS}
|
||||
|
||||
|
||||
# Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team!
|
||||
@@ -245,11 +244,6 @@ class CarState(CarStateBase):
|
||||
|
||||
buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
|
||||
|
||||
if self.CP.carFingerprint in DISTANCE_BUTTON_CAR:
|
||||
prev_distance_button = self.distance_button
|
||||
self.distance_button = cp.vl["PCM_CRUISE_4"]["DISTANCE"]
|
||||
buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
|
||||
|
||||
fp_ret = custom.StarPilotCarState.new_message()
|
||||
|
||||
if self.has_SDSU and not self.has_can_filter:
|
||||
@@ -298,9 +292,6 @@ class CarState(CarStateBase):
|
||||
if CP.enableGasInterceptorDEPRECATED:
|
||||
pt_messages.append(("GAS_SENSOR", 50))
|
||||
|
||||
if CP.carFingerprint in DISTANCE_BUTTON_CAR:
|
||||
pt_messages.append(("PCM_CRUISE_4", 1))
|
||||
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
|
||||
|
||||
@@ -6,7 +6,6 @@ Ecu = CarParams.Ecu
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.TOYOTA_MATRIX_RETROFIT: [{}],
|
||||
CAR.TOYOTA_PRIUS_RETROFIT: [{}],
|
||||
}
|
||||
|
||||
FW_VERSIONS = {
|
||||
@@ -1360,7 +1359,6 @@ FW_VERSIONS = {
|
||||
b'\x018966333T5100\x00\x00\x00\x00',
|
||||
b'\x018966333X6000\x00\x00\x00\x00',
|
||||
b'\x01896633T07000\x00\x00\x00\x00',
|
||||
b'\x01896633T24000\x00\x00\x00\x00',
|
||||
b'\x01896633T38000\x00\x00\x00\x00',
|
||||
b'\x01896633T58000\x00\x00\x00\x00',
|
||||
b'\x01896633T63000\x00\x00\x00\x00',
|
||||
@@ -1378,7 +1376,6 @@ FW_VERSIONS = {
|
||||
b'\x01F152606461\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F15260646200\x00\x00\x00\x00',
|
||||
b'\x01F152633A71\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152633E2100\x00\x00\x00\x00',
|
||||
b'F152633423\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633680\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633681\x00\x00\x00\x00\x00\x00',
|
||||
@@ -1413,7 +1410,6 @@ FW_VERSIONS = {
|
||||
b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
b'\x028646F3309400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
b'\x028646F3313000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.LEXUS_ES: {
|
||||
@@ -1451,26 +1447,21 @@ FW_VERSIONS = {
|
||||
CAR.LEXUS_GS_F: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x02330Y8000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'F152630700\x00\x00\x00\x00\x00\x00',
|
||||
b'F152630400\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.dsu, 0x791, None): [
|
||||
b'881513016200\x00\x00\x00\x00',
|
||||
b'881513011300\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B30551\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B30431\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'8821F4702000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'8646F3002100\x00\x00\x00\x00',
|
||||
b'8646F3001200\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.LEXUS_NX: {
|
||||
|
||||
@@ -4,7 +4,7 @@ from opendbc.car.toyota.carcontroller import CarController
|
||||
from opendbc.car.toyota.radar_interface import RadarInterface
|
||||
from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, SECOC_CAR, NO_DSU_CAR, \
|
||||
MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
|
||||
ToyotaSafetyFlags, LEGACY_PRIUS_CAR
|
||||
ToyotaSafetyFlags
|
||||
from opendbc.car.disable_ecu import disable_ecu
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
@@ -67,12 +67,11 @@ class CarInterface(CarInterfaceBase):
|
||||
# These messages are normally absent there on pre-TSS2 platforms.
|
||||
camera_fingerprint = fingerprint.get(2, {})
|
||||
has_dsu_bypass = 0x343 in camera_fingerprint or 0x4CB in camera_fingerprint
|
||||
late_prius_camera = candidate in LEGACY_PRIUS_CAR and any(
|
||||
late_prius_camera = candidate == CAR.TOYOTA_PRIUS and any(
|
||||
fw.ecu == Ecu.fwdCamera and bytes(fw.fwVersion).startswith(b'8646F4705') for fw in car_fw
|
||||
)
|
||||
if candidate in (CAR.LEXUS_IS, CAR.TOYOTA_CAMRY) or late_prius_camera:
|
||||
native_acc_fingerprints = (fingerprint.get(0, {}), fingerprint.get(1, {}))
|
||||
has_dsu_bypass = ((0x343 in camera_fingerprint and not any(0x343 in native_bus for native_bus in native_acc_fingerprints)) or
|
||||
if candidate == CAR.LEXUS_IS or late_prius_camera:
|
||||
has_dsu_bypass = ((0x343 in camera_fingerprint and 0x343 not in fingerprint.get(1, {})) or
|
||||
(0x4CB in camera_fingerprint and 0x4CB not in fingerprint.get(0, {})))
|
||||
if not use_sdsu and candidate not in TSS2_CAR and has_dsu_bypass:
|
||||
ret.flags |= ToyotaFlags.DSU_BYPASS.value
|
||||
@@ -83,7 +82,7 @@ class CarInterface(CarInterfaceBase):
|
||||
if Ecu.hybrid in found_ecus:
|
||||
ret.flags |= ToyotaFlags.HYBRID.value
|
||||
|
||||
if candidate in LEGACY_PRIUS_CAR:
|
||||
if candidate == CAR.TOYOTA_PRIUS:
|
||||
stop_and_go = True
|
||||
ret.flags |= ToyotaFlags.HYBRID.value
|
||||
# Only give steer angle deadzone to for bad angle sensor prius
|
||||
@@ -175,7 +174,7 @@ class CarInterface(CarInterfaceBase):
|
||||
# to a negative value, so it won't matter.
|
||||
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptorDEPRECATED) else MIN_ACC_SPEED
|
||||
|
||||
prius_long_defaults = candidate in LEGACY_PRIUS_CAR and ret.openpilotLongitudinalControl
|
||||
prius_long_defaults = candidate == CAR.TOYOTA_PRIUS and ret.openpilotLongitudinalControl
|
||||
camry_hybrid_long_defaults = (candidate == CAR.TOYOTA_CAMRY and ret.openpilotLongitudinalControl and
|
||||
bool(ret.flags & ToyotaFlags.HYBRID.value))
|
||||
|
||||
|
||||
@@ -19,7 +19,7 @@ from opendbc.car.toyota.interface import CarInterface
|
||||
from opendbc.car.toyota.radar_interface import RadarInterface, TSSP_RADAR_EGO_SPEED_SCALE
|
||||
from opendbc.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, SECOC_CAR, \
|
||||
FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
|
||||
ToyotaFlags, ToyotaSafetyFlags, ToyotaStarPilotFlags, get_platform_codes
|
||||
ToyotaFlags, ToyotaSafetyFlags, get_platform_codes
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
from openpilot.common.params import Params
|
||||
|
||||
@@ -40,32 +40,6 @@ class TestToyotaInterfaces:
|
||||
# At this time, only RAV4 2023 is expected to use LTA/angle control
|
||||
assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023}
|
||||
|
||||
@pytest.mark.parametrize("candidate", [CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2023])
|
||||
def test_rav4_can_filter_is_optional(self, candidate):
|
||||
def get_params(has_can_filter):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
if has_can_filter:
|
||||
fingerprint[0][0x2AA] = 8
|
||||
|
||||
car_params = CarInterface.get_params(
|
||||
candidate,
|
||||
fingerprint,
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
return CarInterface.get_starpilot_params(candidate, fingerprint, [], car_params, SimpleNamespace())
|
||||
|
||||
without_filter = get_params(False)
|
||||
with_filter = get_params(True)
|
||||
|
||||
assert not without_filter.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
|
||||
assert not without_filter.flags & ToyotaStarPilotFlags.SMART_DSU.value
|
||||
assert with_filter.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
|
||||
assert with_filter.flags & ToyotaStarPilotFlags.SMART_DSU.value
|
||||
|
||||
def test_rav4_prime_force_torque_controller(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
|
||||
@@ -101,22 +75,6 @@ class TestToyotaInterfaces:
|
||||
assert default_params.lateralTuning.torque.steeringAngleDeadzoneDeg == pytest.approx(0.3)
|
||||
assert forced_params.lateralTuning.torque.steeringAngleDeadzoneDeg == pytest.approx(0.3)
|
||||
|
||||
def test_prius_tss2_eps_retrofit_uses_legacy_body_and_eps_scale(self):
|
||||
params = CarInterface.get_params(
|
||||
CAR.TOYOTA_PRIUS_RETROFIT,
|
||||
{bus: {} for bus in range(8)},
|
||||
[],
|
||||
False,
|
||||
False,
|
||||
False,
|
||||
SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
|
||||
assert params.lateralTuning.which() == "torque"
|
||||
assert params.safetyConfigs[0].safetyParam & 0xFF == 73
|
||||
assert params.flags & ToyotaFlags.TSS2.value == 0
|
||||
assert params.steerRatio == pytest.approx(15.74)
|
||||
|
||||
def test_sienna_4th_gen_uses_torque_controller(self):
|
||||
params = CarInterface.get_params(
|
||||
CAR.TOYOTA_SIENNA_4TH_GEN,
|
||||
@@ -132,53 +90,6 @@ class TestToyotaInterfaces:
|
||||
assert params.lateralTuning.torque.latAccelFactor == pytest.approx(1.7)
|
||||
assert params.lateralTuning.torque.friction == pytest.approx(0.14)
|
||||
|
||||
def test_sienna_4th_gen_parses_distance_button(self):
|
||||
params = CarInterface.get_params(
|
||||
CAR.TOYOTA_SIENNA_4TH_GEN,
|
||||
{bus: {} for bus in range(8)},
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
parser = CarState.get_can_parsers(params)[Bus.pt]
|
||||
|
||||
assert "PCM_CRUISE_4" in parser.vl
|
||||
|
||||
other_params = CarInterface.get_params(
|
||||
CAR.TOYOTA_RAV4_PRIME,
|
||||
{bus: {} for bus in range(8)},
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
assert "PCM_CRUISE_4" not in CarState.get_can_parsers(other_params)[Bus.pt].vl
|
||||
|
||||
def test_sienna_distance_button_rate_does_not_invalidate_can(self):
|
||||
params = CarInterface.get_params(
|
||||
CAR.TOYOTA_SIENNA_4TH_GEN,
|
||||
{bus: {} for bus in range(8)},
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
parser = CarState.get_can_parsers(params)[Bus.pt]
|
||||
packer = CANPacker(DBC[CAR.TOYOTA_SIENNA_4TH_GEN][Bus.pt])
|
||||
|
||||
for frame in range(1, 4):
|
||||
msg = packer.make_can_msg("PCM_CRUISE_4", 0, {"COUNTER": frame, "DISTANCE": frame % 2})
|
||||
parser.update([(frame * 1_000_000_000, [msg])])
|
||||
assert parser.can_valid
|
||||
|
||||
# The 1 Hz message must not make the whole car state invalid between frames.
|
||||
parser.update([(frame * 1_000_000_000 + 500_000_000, [])])
|
||||
assert parser.can_valid
|
||||
|
||||
def test_tss2_dbc(self):
|
||||
# We make some assumptions about TSS2 platforms,
|
||||
# like looking up certain signals only in this DBC
|
||||
@@ -326,36 +237,6 @@ class TestToyotaInterfaces:
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.ALT_CRUISE.value
|
||||
|
||||
def test_camry_ignores_startup_acc_bus_mirror(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
fingerprint[0][0x343] = 8
|
||||
fingerprint[2][0x343] = 8
|
||||
|
||||
car_params = CarInterface.get_params(
|
||||
CAR.TOYOTA_CAMRY,
|
||||
fingerprint,
|
||||
[CarParams.CarFw(ecu=Ecu.hybrid, address=0x7D2, fwVersion=b"test")],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(),
|
||||
)
|
||||
|
||||
assert car_params.flags & ToyotaFlags.HYBRID.value
|
||||
assert not car_params.flags & ToyotaFlags.DSU_BYPASS.value
|
||||
assert not car_params.openpilotLongitudinalControl
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
|
||||
|
||||
starpilot_params = CarInterface.get_starpilot_params(
|
||||
CAR.TOYOTA_CAMRY, fingerprint, [], car_params, SimpleNamespace(),
|
||||
)
|
||||
car_state = CarState(car_params, starpilot_params)
|
||||
can_parsers = car_state.get_can_parsers(car_params)
|
||||
car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
|
||||
assert "PRE_COLLISION" in can_parsers[Bus.pt].vl
|
||||
for message in ("ACC_CONTROL", "PRE_COLLISION"):
|
||||
assert message not in can_parsers[Bus.cam].vl
|
||||
|
||||
@pytest.mark.parametrize(("native_bus", "message"), [(1, 0x343), (0, 0x4CB)])
|
||||
def test_prius_dsu_bypass_allows_native_bus_message(self, native_bus, message):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
@@ -511,15 +392,6 @@ class TestToyotaInterfaces:
|
||||
|
||||
assert not should_bypass_toyota_long_pid(car_params)
|
||||
|
||||
def test_highlander_sdsu_bypasses_toyota_longitudinal_pid(self):
|
||||
car_params = SimpleNamespace(
|
||||
carFingerprint=CAR.TOYOTA_HIGHLANDER,
|
||||
enableGasInterceptorDEPRECATED=False,
|
||||
)
|
||||
|
||||
assert should_bypass_toyota_long_pid(car_params, SimpleNamespace(has_sdsu=True))
|
||||
assert not should_bypass_toyota_long_pid(car_params, SimpleNamespace(has_sdsu=False))
|
||||
|
||||
def test_camry_continental_radar_converts_absolute_target_speed(self):
|
||||
radar_interface = RadarInterface.__new__(RadarInterface)
|
||||
radar_interface.CP = SimpleNamespace(wheelSpeedFactor=1.0)
|
||||
@@ -855,37 +727,21 @@ class TestToyotaCarController:
|
||||
assert parser.vl["LKAS_HUD"]["LEFT_LINE"] == 0
|
||||
assert parser.vl["LKAS_HUD"]["RIGHT_LINE"] == 0
|
||||
|
||||
def test_acc_control_uses_valid_long_press_modes(self):
|
||||
def test_acc_control_can_suppress_long_press_behavior_while_gap_button_is_held(self):
|
||||
packer = CANPacker(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt])
|
||||
parser = CANParser(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
|
||||
|
||||
normal_msg = toyotacan.create_accel_command(
|
||||
default_msg = toyotacan.create_accel_command(
|
||||
packer, 0.0, False, True, False, False, 1, False, 0, False,
|
||||
)
|
||||
parser.update([(1, [normal_msg])])
|
||||
parser.update([(1, [default_msg])])
|
||||
assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1
|
||||
|
||||
reverse_msg = toyotacan.create_accel_command(
|
||||
packer, 0.0, False, True, False, False, 1, False, 0, True,
|
||||
suppressed_msg = toyotacan.create_accel_command(
|
||||
packer, 0.0, False, True, False, False, 1, False, 0, False, allow_long_press=0,
|
||||
)
|
||||
parser.update([(1, [reverse_msg])])
|
||||
assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 2
|
||||
|
||||
def test_acc_control_accepts_toggle_namespace_without_reverse_cruise_option(self):
|
||||
# Older or partially refreshed toggle broadcasts do not include this optional field.
|
||||
toggles = SimpleNamespace()
|
||||
assert getattr(toggles, "reverse_cruise_increase", False) is False
|
||||
|
||||
packer = CANPacker(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt])
|
||||
msg = toyotacan.create_accel_command(
|
||||
packer, 0.0, False, True, False, False, 1, False, 0,
|
||||
getattr(toggles, "reverse_cruise_increase", False),
|
||||
)
|
||||
parser = CANParser(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
|
||||
parser.update([(1, [msg])])
|
||||
|
||||
assert parser.can_valid
|
||||
assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1
|
||||
parser.update([(1, [suppressed_msg])])
|
||||
assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 0
|
||||
|
||||
def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
|
||||
controller = self._make_controller()
|
||||
|
||||
@@ -41,9 +41,10 @@ def create_lta_steer_command_2(packer, frame):
|
||||
|
||||
|
||||
def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert,
|
||||
distance, reverse_cruise_active):
|
||||
distance, reverse_cruise_active, allow_long_press=None):
|
||||
# TODO: find the exact canceling bit that does not create a chime
|
||||
allow_long_press = 2 if reverse_cruise_active else 1
|
||||
if allow_long_press is None:
|
||||
allow_long_press = 2 if reverse_cruise_active else 1
|
||||
|
||||
values = {
|
||||
"ACCEL_CMD": accel,
|
||||
|
||||
@@ -250,11 +250,6 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
|
||||
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
|
||||
)
|
||||
TOYOTA_PRIUS_RETROFIT = PlatformConfig(
|
||||
[ToyotaCommunityCarDocs("Toyota Prius 2016-20 with TSS2 EPS retrofit", package="Custom retrofit")],
|
||||
TOYOTA_PRIUS.specs,
|
||||
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
|
||||
)
|
||||
TOYOTA_PRIUS_V = PlatformConfig(
|
||||
[ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
|
||||
CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
|
||||
@@ -604,11 +599,9 @@ STEER_THRESHOLD = 100
|
||||
|
||||
# These cars have non-standard EPS torque scale factors. All others are 73
|
||||
EPS_SCALE = defaultdict(lambda: 73,
|
||||
{CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_PRIUS_RETROFIT: 73, CAR.TOYOTA_COROLLA: 88, CAR.TOYOTA_MATRIX_RETROFIT: 88,
|
||||
{CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.TOYOTA_MATRIX_RETROFIT: 88,
|
||||
CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
|
||||
|
||||
LEGACY_PRIUS_CAR = frozenset((CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT))
|
||||
|
||||
# Toyota/Lexus Safety Sense 2.0 and 2.5
|
||||
TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ from opendbc.car import Bus, DT_CTRL, structs
|
||||
from opendbc.car.lateral import apply_driver_steer_torque_limits
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
from opendbc.car.volkswagen import mebcan, mlbcan, mqbcan, pqcan
|
||||
from opendbc.car.volkswagen import mlbcan, mqbcan, pqcan
|
||||
from opendbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags
|
||||
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
@@ -19,9 +19,6 @@ class CarController(CarControllerBase):
|
||||
self.packer_pt = CANPacker(dbc_names[Bus.pt])
|
||||
self.aeb_available = not CP.flags & VolkswagenFlags.PQ
|
||||
|
||||
if CP.flags & VolkswagenFlags.MEB:
|
||||
self.meb_long_state = mebcan.MebLongStateMachine(self.CP, self.CCP)
|
||||
|
||||
if CP.flags & VolkswagenFlags.PQ:
|
||||
self.CCS = pqcan
|
||||
elif CP.flags & VolkswagenFlags.MLB:
|
||||
@@ -30,11 +27,6 @@ class CarController(CarControllerBase):
|
||||
self.CCS = mqbcan
|
||||
|
||||
self.apply_torque_last = 0
|
||||
self.apply_curvature_last = 0.
|
||||
self.steering_power_last = 0
|
||||
self.accel_last = 0.
|
||||
self.lead_distance_bars_last = None
|
||||
self.distance_bar_frame = 0
|
||||
self.gra_acc_counter_last = None
|
||||
self.eps_timer_soft_disable_alert = False
|
||||
self.hca_frame_timer_running = 0
|
||||
@@ -48,66 +40,37 @@ class CarController(CarControllerBase):
|
||||
# **** Steering Controls ************************************************ #
|
||||
|
||||
if self.frame % self.CCP.STEER_STEP == 0:
|
||||
apply_torque = 0
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
if CC.latActive:
|
||||
hca_enabled = True
|
||||
apply_curvature = actuators.curvature + (CS.curvature_meas - CC.currentCurvature)
|
||||
apply_curvature = self.CCP.CURVATURE_LIMITS.apply_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw,
|
||||
CS.curvature_meas, CC.latActive, self.CCP.STEER_STEP)
|
||||
# Logic to avoid HCA state 4 "refused":
|
||||
# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
|
||||
# * Don't steer at standstill
|
||||
# * Don't send > 3.00 Newton-meters torque
|
||||
# * Don't send the same torque for > 6 seconds
|
||||
# * Don't send uninterrupted steering for > 360 seconds
|
||||
# MQB racks reset the uninterrupted steering timer after a single frame
|
||||
# of HCA disabled; this is done whenever output happens to be zero.
|
||||
|
||||
min_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN)
|
||||
max_power = min(self.steering_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX)
|
||||
target_power_driver = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
|
||||
[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
|
||||
target_power = int(np.interp(CS.out.vEgo, [0., 0.5], [self.CCP.STEERING_POWER_MIN, target_power_driver]))
|
||||
steering_power = min(max(target_power, min_power), max_power)
|
||||
elif self.steering_power_last > 0:
|
||||
# Wind steering authority down instead of abruptly faulting the EPS at disengagement.
|
||||
hca_enabled = True
|
||||
apply_curvature = float(np.clip(CS.curvature_meas, -self.CCP.CURVATURE_MAX, self.CCP.CURVATURE_MAX))
|
||||
steering_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, 0)
|
||||
else:
|
||||
hca_enabled = False
|
||||
apply_curvature = 0.
|
||||
steering_power = 0
|
||||
|
||||
can_sends.append(mebcan.create_steering_control(self.packer_pt, self.CAN.pt, apply_curvature, hca_enabled, steering_power))
|
||||
self.apply_curvature_last = apply_curvature
|
||||
self.steering_power_last = steering_power
|
||||
|
||||
else:
|
||||
# Logic to avoid HCA state 4 "refused":
|
||||
# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
|
||||
# * Don't steer at standstill
|
||||
# * Don't send > 3.00 Newton-meters torque
|
||||
# * Don't send the same torque for > 6 seconds
|
||||
# * Don't send uninterrupted steering for > 360 seconds
|
||||
# MQB racks reset the uninterrupted steering timer after a single frame
|
||||
# of HCA disabled; this is done whenever output happens to be zero.
|
||||
|
||||
if CC.latActive:
|
||||
new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
|
||||
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
|
||||
self.hca_frame_timer_running += self.CCP.STEER_STEP
|
||||
if self.apply_torque_last == apply_torque:
|
||||
self.hca_frame_same_torque += self.CCP.STEER_STEP
|
||||
if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
|
||||
apply_torque -= (1, -1)[apply_torque < 0]
|
||||
self.hca_frame_same_torque = 0
|
||||
else:
|
||||
if CC.latActive:
|
||||
new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
|
||||
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
|
||||
self.hca_frame_timer_running += self.CCP.STEER_STEP
|
||||
if self.apply_torque_last == apply_torque:
|
||||
self.hca_frame_same_torque += self.CCP.STEER_STEP
|
||||
if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
|
||||
apply_torque -= (1, -1)[apply_torque < 0]
|
||||
self.hca_frame_same_torque = 0
|
||||
hca_enabled = abs(apply_torque) > 0
|
||||
else:
|
||||
hca_enabled = False
|
||||
apply_torque = 0
|
||||
self.hca_frame_same_torque = 0
|
||||
hca_enabled = abs(apply_torque) > 0
|
||||
else:
|
||||
hca_enabled = False
|
||||
apply_torque = 0
|
||||
|
||||
if not hca_enabled:
|
||||
self.hca_frame_timer_running = 0
|
||||
if not hca_enabled:
|
||||
self.hca_frame_timer_running = 0
|
||||
|
||||
self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
|
||||
self.apply_torque_last = apply_torque
|
||||
can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled))
|
||||
self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
|
||||
self.apply_torque_last = apply_torque
|
||||
can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled))
|
||||
|
||||
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
|
||||
# Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
|
||||
@@ -118,29 +81,16 @@ class CarController(CarControllerBase):
|
||||
ea_simulated_torque = CS.out.steeringTorque
|
||||
can_sends.append(self.CCS.create_eps_update(self.packer_pt, self.CAN.cam, CS.eps_stock_values, ea_simulated_torque))
|
||||
|
||||
if self.CP.flags & VolkswagenFlags.MEB and self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT:
|
||||
if self.frame % self.CCP.KLR_01_STEP == 0:
|
||||
can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.cam, CC.latActive, CS.klr_stock_values))
|
||||
can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.pt, CC.latActive, CS.klr_stock_values))
|
||||
|
||||
# **** Acceleration Controls ******************************************** #
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if self.frame % self.CCP.ACC_CONTROL_STEP == 0:
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX))
|
||||
accel, acc_status, acc_hold_type, braking_to_stop = self.meb_long_state.update(CS, CC, accel)
|
||||
can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, self.CCP, CS.acc_type, CC.enabled,
|
||||
accel, acc_status, acc_hold_type, braking_to_stop,
|
||||
CS.out.vEgoRaw * CV.MS_TO_KPH, CS.travel_assist_available))
|
||||
else:
|
||||
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < starpilot_toggles.vEgoStopping)
|
||||
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
|
||||
acc_control, stopping, starting, CS.esp_hold_confirmation))
|
||||
self.accel_last = accel
|
||||
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < starpilot_toggles.vEgoStopping)
|
||||
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
|
||||
acc_control, stopping, starting, CS.esp_hold_confirmation))
|
||||
|
||||
#if self.aeb_available:
|
||||
# if self.frame % self.CCP.AEB_CONTROL_STEP == 0:
|
||||
@@ -157,27 +107,16 @@ class CarController(CarControllerBase):
|
||||
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive,
|
||||
CS.out.steeringPressed, hud_alert, hud_control))
|
||||
|
||||
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
|
||||
self.distance_bar_frame = self.frame
|
||||
|
||||
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
|
||||
show_distance_bars = self.frame - self.distance_bar_frame < 400
|
||||
lead_distance = 8 if hud_control.leadVisible and self.frame * DT_CTRL > 1.0 else 0
|
||||
can_sends.append(mebcan.create_acc_hud_control(self.packer_pt, self.CAN.pt, self.meb_long_state.acc_status,
|
||||
hud_control.setSpeed * CV.MS_TO_KPH, hud_control.leadVisible,
|
||||
hud_control.leadDistanceBars, show_distance_bars, lead_distance, fcw_alert))
|
||||
else:
|
||||
lead_distance = 0
|
||||
if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
|
||||
lead_distance = 512 if CS.upscale_lead_car_signal else 8
|
||||
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
# FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors
|
||||
# FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset
|
||||
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
|
||||
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
|
||||
lead_distance, hud_control.leadDistanceBars))
|
||||
lead_distance = 0
|
||||
if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
|
||||
lead_distance = 512 if CS.upscale_lead_car_signal else 8
|
||||
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
# FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors
|
||||
# FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset
|
||||
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
|
||||
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
|
||||
lead_distance, hud_control.leadDistanceBars))
|
||||
|
||||
# **** Stock ACC Button Controls **************************************** #
|
||||
|
||||
@@ -189,11 +128,7 @@ class CarController(CarControllerBase):
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX
|
||||
new_actuators.torqueOutputCan = self.apply_torque_last
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
new_actuators.curvature = self.apply_curvature_last
|
||||
new_actuators.accel = self.accel_last
|
||||
|
||||
self.lead_distance_bars_last = hud_control.leadDistanceBars
|
||||
self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -14,16 +14,12 @@ class CarState(CarStateBase):
|
||||
super().__init__(CP, FPCP)
|
||||
self.frame = 0
|
||||
self.eps_init_complete = False
|
||||
self.tsk_recovery_timer = 0
|
||||
self.CCP = CarControllerParams(CP)
|
||||
self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
|
||||
self.esp_hold_confirmation = False
|
||||
self.upscale_lead_car_signal = False
|
||||
self.eps_stock_values = False
|
||||
self.acc_type = 0
|
||||
self.travel_assist_available = False
|
||||
self.curvature_meas = 0.
|
||||
self.klr_stock_values = {}
|
||||
|
||||
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
|
||||
if not self.CP.pcmCruise:
|
||||
@@ -56,8 +52,6 @@ class CarState(CarStateBase):
|
||||
return self.update_pq(pt_cp, cam_cp, ext_cp)
|
||||
elif self.CP.flags & VolkswagenFlags.MLB:
|
||||
return self.update_mlb(pt_cp, cam_cp, ext_cp)
|
||||
elif self.CP.flags & VolkswagenFlags.MEB:
|
||||
return self.update_meb(pt_cp, cam_cp, ext_cp)
|
||||
|
||||
ret = structs.CarState()
|
||||
|
||||
@@ -149,93 +143,6 @@ class CarState(CarStateBase):
|
||||
|
||||
return ret, fp_ret
|
||||
|
||||
def update_meb(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
|
||||
ret = structs.CarState()
|
||||
|
||||
self.parse_wheel_speeds(ret,
|
||||
pt_cp.vl["ESC_51"]["VL_Radgeschw"],
|
||||
pt_cp.vl["ESC_51"]["VR_Radgeschw"],
|
||||
pt_cp.vl["ESC_51"]["HL_Radgeschw"],
|
||||
pt_cp.vl["ESC_51"]["HR_Radgeschw"],
|
||||
)
|
||||
ret.standstill = ret.vEgoRaw == 0
|
||||
|
||||
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
|
||||
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
|
||||
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
|
||||
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE, 5)
|
||||
self.curvature_meas = -pt_cp.vl["QFK_01"]["Curvature"] * (1, -1)[int(pt_cp.vl["QFK_01"]["Curvature_VZ"])]
|
||||
ret.yawRate = -pt_cp.vl["ESC_50"]["Yaw_Rate"] * (1, -1)[int(pt_cp.vl["ESC_50"]["Yaw_Rate_Sign"])] * CV.DEG_TO_RAD
|
||||
|
||||
if self.CP.flags & VolkswagenFlags.ALT_GEAR:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Gateway_73"]["GE_Fahrstufe"], None))
|
||||
else:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
|
||||
in_drive = ret.gearShifter == GearShifter.drive
|
||||
|
||||
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["QFK_01"]["LatCon_HCA_Status"])
|
||||
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, in_drive)
|
||||
ret.carFaultedNonCritical = cam_cp.vl["EA_01"]["EA_Funktionsstatus"] in (3, 4, 5, 6)
|
||||
|
||||
ret.gasPressed = pt_cp.vl["Motor_51"]["Accel_Pedal_Pressure"] > 0
|
||||
ret.brakePressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
|
||||
ret.parkingBrake = pt_cp.vl["ESC_50"]["EPB_Status"] in (1, 4)
|
||||
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
|
||||
doors = pt_cp.vl["ZV_02"] if bool(pt_cp.vl["Gateway_72"]["ZV_02_alt"]) else pt_cp.vl["Gateway_72"]
|
||||
ret.doorOpen = any([doors["ZV_FT_offen"], doors["ZV_BT_offen"], doors["ZV_HFS_offen"],
|
||||
doors["ZV_HBFS_offen"], doors["ZV_HD_offen"]])
|
||||
ret.espDisabled = bool(pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"])
|
||||
ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
|
||||
|
||||
self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
|
||||
self.esp_hold_confirmation = bool(pt_cp.vl["ESC_50"]["Standstill"])
|
||||
self.travel_assist_available = bool(cam_cp.vl["TA_01"]["Travel_Assist_Available"])
|
||||
ret.stockFcw = bool(ext_cp.vl["AWV_03"]["FCW_Active"])
|
||||
ret.stockAeb = bool(ext_cp.vl["AWV_03"]["AEB_Active"])
|
||||
|
||||
ret.cruiseState.available = pt_cp.vl["Motor_51"]["TSK_Status"] in (2, 3, 4, 5)
|
||||
ret.cruiseState.enabled = pt_cp.vl["Motor_51"]["TSK_Status"] in (3, 4, 5)
|
||||
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
|
||||
if self.CP.pcmCruise:
|
||||
ret.cruiseState.nonAdaptive = bool(ext_cp.vl["ACC_19"]["ACC_Limiter_Mode"])
|
||||
ret.cruiseState.speed = ext_cp.vl["ACC_19"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
|
||||
if ret.cruiseState.speed > 90:
|
||||
ret.cruiseState.speed = 0
|
||||
else:
|
||||
ret.cruiseState.nonAdaptive = bool(pt_cp.vl["Motor_51"]["TSK_Limiter_ausgewaehlt"])
|
||||
|
||||
tsk_faulted = pt_cp.vl["Motor_51"]["TSK_Status"] in (6, 7)
|
||||
engine_off = pt_cp.vl["Motor_54"]["Engine_On"] == 0
|
||||
long_control_inhibit = pt_cp.vl["VMM_02"]["Long_Control_Inhibit"] == 2
|
||||
ret.accFaulted = (self.update_acc_fault(tsk_faulted, engine_off, long_control_inhibit) or
|
||||
ext_cp.vl["ACC_18"]["ACC_Status_ACC"] == 6)
|
||||
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(240, pt_cp.vl["SMLS_01"]["BH_Blinker_li"],
|
||||
pt_cp.vl["SMLS_01"]["BH_Blinker_re"])
|
||||
|
||||
if self.CP.enableBsm:
|
||||
if self.CP.flags & VolkswagenFlags.MEB_GEN2:
|
||||
ret.leftBlindspot = (bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Driver"]) or
|
||||
bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Driver"]))
|
||||
ret.rightBlindspot = (bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Passenger"]) or
|
||||
bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Passenger"]))
|
||||
else:
|
||||
ret.leftBlindspot = (bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Left"]) or
|
||||
bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Left"]))
|
||||
ret.rightBlindspot = (bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Right"]) or
|
||||
bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Right"]))
|
||||
|
||||
self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
|
||||
self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
|
||||
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
|
||||
self.klr_stock_values = pt_cp.vl["KLR_01"] if self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT else {}
|
||||
|
||||
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
|
||||
ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)
|
||||
|
||||
self.frame += 1
|
||||
return ret, custom.StarPilotCarState.new_message()
|
||||
|
||||
def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
|
||||
ret = structs.CarState()
|
||||
|
||||
@@ -411,19 +318,10 @@ class CarState(CarStateBase):
|
||||
temp_fault = drive_mode and hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
|
||||
return temp_fault, perm_fault
|
||||
|
||||
def update_acc_fault(self, acc_fault, engine_off, long_inhibit, recovery_frames=10):
|
||||
# MEB briefly reports a drivetrain coordinator fault while the car powers down
|
||||
# or after hard braking. Ignore only the short trailing state from those events.
|
||||
if engine_off or long_inhibit:
|
||||
self.tsk_recovery_timer = self.frame
|
||||
return acc_fault and self.frame - self.tsk_recovery_timer >= recovery_frames
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP):
|
||||
if CP.flags & VolkswagenFlags.PQ:
|
||||
return CarState.get_can_parsers_pq(CP)
|
||||
elif CP.flags & VolkswagenFlags.MEB:
|
||||
return CarState.get_can_parsers_meb(CP)
|
||||
|
||||
# manually configure some optional and variable-rate/edge-triggered messages
|
||||
pt_messages, cam_messages = [], []
|
||||
@@ -448,21 +346,3 @@ class CarState(CarStateBase):
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).cam),
|
||||
}
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers_meb(CP):
|
||||
pt_messages = [
|
||||
("Blinkmodi_02", 1),
|
||||
("SMLS_01", 1),
|
||||
]
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
pt_messages.append(("AWV_03", 1))
|
||||
|
||||
cam_messages = []
|
||||
if CP.networkLocation == NetworkLocation.gateway:
|
||||
cam_messages.append(("AWV_03", 1))
|
||||
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).cam),
|
||||
}
|
||||
|
||||
@@ -8,71 +8,6 @@ Ecu = CarParams.Ecu
|
||||
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.VOLKSWAGEN_ID3_MK1: {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x871EA959655CD\xf1\x890366',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.VOLKSWAGEN_ID3_MK2: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907567D \xf1\x890250',
|
||||
],
|
||||
},
|
||||
CAR.VOLKSWAGEN_ID4_MK1: {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x871EA959655EA\xf1\x890376',
|
||||
b'\xf1\x875WA959655R \xf1\x890717',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x871EA907144AQ\xf1\x895033\xf1\x82\x000_BH0A0_ON',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.VOLKSWAGEN_ID4_MK2: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907567D \xf1\x890250',
|
||||
b'\xf1\x871EA907567C \xf1\x890099',
|
||||
],
|
||||
},
|
||||
CAR.AUDI_Q4_MK1: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.AUDI_Q4_MK2: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907567B \xf1\x890232',
|
||||
],
|
||||
},
|
||||
CAR.CUPRA_BORN_MK1: {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x871EA959655EH\xf1\x890381',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x871EA907144AQ\xf1\x895033',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.SKODA_ENYAQ_MK1: {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x871EA959655EA\xf1\x890376',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.SKODA_ENYAQ_MK2: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907567B \xf1\x890232',
|
||||
],
|
||||
},
|
||||
CAR.VOLKSWAGEN_ARTEON_MK1: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8704L906026TM\xf1\x896847',
|
||||
|
||||
@@ -1,15 +1,13 @@
|
||||
from opendbc.car import Bus, get_safety_config, structs
|
||||
from opendbc.car import get_safety_config, structs
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.car.volkswagen.carcontroller import CarController
|
||||
from opendbc.car.volkswagen.carstate import CarState
|
||||
from opendbc.car.volkswagen.radar_interface import RadarInterface
|
||||
from opendbc.car.volkswagen.values import CanBus, CAR, DBC, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
|
||||
from opendbc.car.volkswagen.values import CanBus, CAR, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
@@ -46,37 +44,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.dashcamOnly = True # Pending HCA timeout fix, safety validation, harness termination, install procedure
|
||||
|
||||
elif ret.flags & VolkswagenFlags.MEB:
|
||||
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMeb)]
|
||||
if ret.flags & VolkswagenFlags.MEB_GEN2:
|
||||
safety_configs[0].safetyParam |= VolkswagenSafetyFlags.MEB_ALT_CRC.value
|
||||
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
ret.steerControlType = structs.CarParams.SteerControlType.curvatureDEPRECATED
|
||||
ret.steerAtStandstill = True
|
||||
|
||||
ret.lateralTuning.init('pid')
|
||||
ret.lateralTuning.pid.kpBP = [10., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 1.45]
|
||||
ret.lateralTuning.pid.kiBP = [10., 40.]
|
||||
ret.lateralTuning.pid.kiV = [0., 0.12]
|
||||
ret.lateralTuning.pid.kf = 1.
|
||||
|
||||
if docs or any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.radarUnavailable = Bus.radar not in DBC[candidate]
|
||||
else:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
|
||||
ret.enableBsm = 0x24C in fingerprint[0]
|
||||
if 0x25D in fingerprint[0]:
|
||||
ret.flags |= VolkswagenFlags.STOCK_KLR_PRESENT.value
|
||||
if 0x3DC in fingerprint[0]:
|
||||
ret.flags |= VolkswagenFlags.ALT_GEAR.value
|
||||
|
||||
# MEB support requires the J533 gateway harness; camera installations remain passive.
|
||||
ret.dashcamOnly = ret.networkLocation == NetworkLocation.fwdCamera
|
||||
|
||||
else:
|
||||
# Set global MQB parameters
|
||||
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
|
||||
@@ -105,8 +72,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if ret.flags & VolkswagenFlags.PQ or ret.flags & VolkswagenFlags.MLB:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
elif ret.flags & VolkswagenFlags.MEB:
|
||||
ret.steerActuatorDelay = 0.3
|
||||
else:
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.lateralTuning.pid.kpBP = [0.]
|
||||
@@ -117,14 +82,9 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# Global longitudinal tuning defaults, can be overridden per-vehicle
|
||||
|
||||
if ret.flags & VolkswagenFlags.MEB:
|
||||
ret.longitudinalActuatorDelay = 0.5
|
||||
ret.longitudinalTuning.kiBP = [0., 30.]
|
||||
ret.longitudinalTuning.kiV = [0.4, 0.]
|
||||
|
||||
ret.alphaLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
|
||||
if alpha_long and (not ret.flags & VolkswagenFlags.MEB or ret.alphaLongitudinalAvailable):
|
||||
# Panda ALLOW_DEBUG firmware is required for Volkswagen longitudinal control.
|
||||
if alpha_long:
|
||||
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
|
||||
ret.openpilotLongitudinalControl = True
|
||||
safety_configs[0].safetyParam |= VolkswagenSafetyFlags.LONG_CONTROL.value
|
||||
if ret.transmissionType == TransmissionType.manual:
|
||||
|
||||
@@ -1,277 +0,0 @@
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.can import CANDefine
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.volkswagen.values import DBC
|
||||
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def create_steering_control(packer, bus, apply_curvature, lkas_enabled, power=0):
|
||||
values = {
|
||||
"Curvature": abs(apply_curvature), # in rad/m
|
||||
"Curvature_VZ": 1 if apply_curvature > 0 and lkas_enabled else 0,
|
||||
"Power": power if lkas_enabled else 0,
|
||||
"RequestStatus": 4 if lkas_enabled else 2,
|
||||
"HighSendRate": lkas_enabled,
|
||||
}
|
||||
return packer.make_can_msg("HCA_03", bus, values)
|
||||
|
||||
|
||||
def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
|
||||
values = {s: eps_stock_values[s] for s in [
|
||||
"COUNTER", # Sync counter value to EPS output
|
||||
"EPS_Lenkungstyp", # EPS rack type
|
||||
"EPS_Berechneter_LW", # Absolute raw steering angle
|
||||
"EPS_VZ_BLW", # Raw steering angle sign
|
||||
"EPS_HCA_Status", # EPS HCA control status
|
||||
]}
|
||||
|
||||
values.update({
|
||||
# Absolute driver torque input and sign, with EA inactivity mitigation
|
||||
"EPS_Lenkmoment": abs(ea_simulated_torque),
|
||||
"EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0,
|
||||
})
|
||||
|
||||
return packer.make_can_msg("LH_EPS_03", bus, values)
|
||||
|
||||
|
||||
def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control, sound_alert=False):
|
||||
display_mode = 1 if lat_active else 0 # travel assist style showing yellow lanes when op is active
|
||||
|
||||
values = {}
|
||||
if len(ldw_stock_values):
|
||||
values = {s: ldw_stock_values[s] for s in [
|
||||
"LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure
|
||||
"LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure
|
||||
"LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right)
|
||||
"LDW_DLC", # Lane departure, distance to line crossing
|
||||
"LDW_TLC", # Lane departure, time to line crossing
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"LDW_Gong": sound_alert,
|
||||
"LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
|
||||
"LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
|
||||
"LDW_Lernmodus_links": 3 + display_mode if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible + display_mode,
|
||||
"LDW_Lernmodus_rechts": 3 + display_mode if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible + display_mode,
|
||||
"LDW_Texte": hud_alert,
|
||||
})
|
||||
return packer.make_can_msg("LDW_02", bus, values)
|
||||
|
||||
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False, up=False, down=False):
|
||||
values = {s: gra_stock_values[s] for s in [
|
||||
"GRA_Hauptschalter", # ACC button, on/off
|
||||
"GRA_Typ_Hauptschalter", # ACC main button type
|
||||
"GRA_Codierung", # ACC button configuration/coding
|
||||
"GRA_Tip_Stufe_2", # unknown related to stalk type
|
||||
"GRA_ButtonTypeInfo", # unknown related to stalk type
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
|
||||
"GRA_Abbrechen": cancel,
|
||||
"GRA_Tip_Wiederaufnahme": resume or up,
|
||||
"GRA_Tip_Setzen": down,
|
||||
})
|
||||
return packer.make_can_msg("GRA_ACC_01", bus, values)
|
||||
|
||||
|
||||
ACC_HUD_ERROR = 6
|
||||
ACC_HUD_OVERRIDE = 4
|
||||
ACC_HUD_ACTIVE = 3
|
||||
ACC_HUD_ENABLED = 2
|
||||
ACC_HUD_DISABLED = 0
|
||||
|
||||
|
||||
class MebLongStateMachine:
|
||||
HOLD_RELEASE_SPEED = 5 * CV.KPH_TO_MS
|
||||
|
||||
def __init__(self, CP, CCP):
|
||||
self.CCP = CCP
|
||||
self.RAMP_FRAMES = 10 // CCP.ACC_CONTROL_STEP # 100 ms
|
||||
|
||||
self.disengage_ramp_counter = 0 # always ramp when disengaging
|
||||
|
||||
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
|
||||
self.acc_status_vals = {v: k for k, v in can_define.dv['ACC_18']['ACC_Status_ACC'].items()}
|
||||
self.acc_hold_type_vals = {v: k for k, v in can_define.dv['ACC_18']['ACC_Anforderung_HMS'].items()}
|
||||
|
||||
self.prev_acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG'] # no request
|
||||
self.acc_status = self.acc_status_vals['ACC_OFF_HAUPTSCHALTER_AUS'] # last acc status, read by HUD msg
|
||||
|
||||
def _get_acc_status(self, CS, CC) -> int:
|
||||
# stateless
|
||||
# NOTE: stock TSK and camera goes to 5 on disengage independently which we don't model, but hasn't been shown to fault without it
|
||||
if CS.out.accFaulted:
|
||||
return self.acc_status_vals['REVERSIBLER_FEHLER_IM_ACC_SYSTEM']
|
||||
elif CC.enabled:
|
||||
return self.acc_status_vals['ACC_OVERRIDE' if CC.cruiseControl.override else 'ACC_AKTIV_REGELT']
|
||||
elif CS.out.cruiseState.available:
|
||||
return self.acc_status_vals['ACC_STANDBY']
|
||||
else:
|
||||
return self.acc_status_vals['ACC_OFF_HAUPTSCHALTER_AUS'] # disabled
|
||||
|
||||
def _get_hold_type(self, CS, CC) -> int:
|
||||
# warning: car is reacting to hold mechanic even with long control off
|
||||
# HALTEN -> KEINE_ANFORDERUNG causes the car to fault into park, so both branches below put a ramp in
|
||||
# between: disengaging always ramps, and while engaged a release ramps until 5 kph
|
||||
# NOTE: this allows KEINE_ANFORDERUNG -> ANFAHREN, but we haven't observed a fault due to this yet
|
||||
# TODO: camera can send 7 on disengage at a stop which we don't fully understand yet
|
||||
stopping = CC.actuators.longControlState == LongCtrlState.stopping
|
||||
starting = CC.actuators.longControlState == LongCtrlState.pid and CS.esp_hold_confirmation
|
||||
long_active = CC.longActive and not CS.out.accFaulted # catches it one frame earlier, not sure if needed
|
||||
|
||||
if not long_active:
|
||||
# Stock goes to RAMP for as long as TSK_Status is 5 usually, 100ms seems fine to mimic that behavior.
|
||||
# Stock stays active for gas press, but we go inactive
|
||||
if self.disengage_ramp_counter > 0:
|
||||
acc_hold_type = self.acc_hold_type_vals['LOESEN_UEBER_RAMPE'] # ramp
|
||||
self.disengage_ramp_counter -= 1
|
||||
else:
|
||||
acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG'] # no request
|
||||
|
||||
else:
|
||||
was_engaged = self.disengage_ramp_counter == self.RAMP_FRAMES
|
||||
self.disengage_ramp_counter = self.RAMP_FRAMES # prep ramp if we disengage
|
||||
|
||||
if stopping:
|
||||
acc_hold_type = self.acc_hold_type_vals['HALTEN'] # stopping/stopped, allowed at any time
|
||||
elif starting:
|
||||
acc_hold_type = self.acc_hold_type_vals['ANFAHREN'] # resume after reaching full stop
|
||||
else:
|
||||
# After aborting a stop or finishing starting, we need to send RAMP until we hit 5 kph or go long inactive,
|
||||
# only if we didn't just re-engage
|
||||
releasing = was_engaged and self.prev_acc_hold_type in (self.acc_hold_type_vals['HALTEN'],
|
||||
self.acc_hold_type_vals['ANFAHREN'],
|
||||
self.acc_hold_type_vals['LOESEN_UEBER_RAMPE'])
|
||||
|
||||
if releasing and CS.out.vEgo < self.HOLD_RELEASE_SPEED:
|
||||
acc_hold_type = self.acc_hold_type_vals['LOESEN_UEBER_RAMPE'] # ramp
|
||||
else:
|
||||
acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG'] # no request
|
||||
|
||||
return acc_hold_type
|
||||
|
||||
def update(self, CS, CC, accel) -> tuple[float, int, int, bool]:
|
||||
acc_status = self._get_acc_status(CS, CC)
|
||||
acc_hold_type = self._get_hold_type(CS, CC)
|
||||
|
||||
# transition to inactive accel and jerks as soon as we enter ESP standstill
|
||||
requesting_hold = acc_hold_type == self.acc_hold_type_vals['HALTEN']
|
||||
held = requesting_hold and CS.esp_hold_confirmation
|
||||
if not CC.enabled or held:
|
||||
accel = self.CCP.ACCEL_INACTIVE
|
||||
|
||||
# hold requested but the car hasn't reached standstill yet
|
||||
braking_to_stop = requesting_hold and not CS.esp_hold_confirmation
|
||||
|
||||
self.prev_acc_hold_type = acc_hold_type
|
||||
self.acc_status = acc_status
|
||||
return accel, acc_status, acc_hold_type, braking_to_stop
|
||||
|
||||
|
||||
def create_acc_accel_control(packer, bus, CCP, acc_type, acc_enabled, accel, acc_status, acc_hold_type,
|
||||
braking_to_stop, speed, travel_assist_available):
|
||||
# active longitudinal control disables one pedal driving (regen mode) while using overriding mechanism
|
||||
# error mitigation when stopping or stopped: (newer gen cars can be very sensitive)
|
||||
# - send 0 m stopping distance for cars in kind of parameterized stopping mode (stopping accel -0.2 seen for those cars)
|
||||
# -> this mode is seen for different cars with same firmware radars so could be a coded operational mode
|
||||
# - jerk and control limits values set inactive together when fully stopped
|
||||
# - set accel to 0 / no stop accel for full stop (seems to be compatible with old (non 0 stop accel) and new gen, because HMS state holds the car anyways)
|
||||
# - stopping command sent while requesting stop but ESP is not in standstill
|
||||
commands = []
|
||||
|
||||
# ACC_Anhalteweg: when stopping: MEB: values <> 0 the car can execute a hard brake probably if target is too close, MQBEvo: value 0 results in hard brake
|
||||
terminal_rollout = 0
|
||||
|
||||
values = {
|
||||
"ACC_Typ": acc_type,
|
||||
"ACC_Status_ACC": acc_status,
|
||||
"ACC_StartStopp_Info": acc_enabled,
|
||||
"ACC_Sollbeschleunigung_02": accel,
|
||||
"ACC_zul_Regelabw_unten": 0,
|
||||
"ACC_zul_Regelabw_oben": 0,
|
||||
"ACC_neg_Sollbeschl_Grad_02": CCP.JERK_LIMIT if accel != CCP.ACCEL_INACTIVE else 0,
|
||||
"ACC_pos_Sollbeschl_Grad_02": CCP.JERK_LIMIT if accel != CCP.ACCEL_INACTIVE else 0,
|
||||
"ACC_Anfahren": 0, # always zero, stock uses ACC_Anforderung_HMS
|
||||
"ACC_Anhalten": 1 if braking_to_stop else 0,
|
||||
"ACC_Anhalteweg": terminal_rollout if braking_to_stop else 20.46,
|
||||
"ACC_Anforderung_HMS": acc_hold_type,
|
||||
"ACC_AKTIV_regelt": 0, # always zero, stock uses ACC_Status_ACC
|
||||
"Speed": speed,
|
||||
"SET_ME_0XFE": 0xFE,
|
||||
"SET_ME_0X1": 0x1,
|
||||
"SET_ME_0X9": 0x9,
|
||||
}
|
||||
|
||||
commands.append(packer.make_can_msg("ACC_18", bus, values))
|
||||
|
||||
if travel_assist_available:
|
||||
# satisfy car to prevent errors when pressing Travel Assist Button
|
||||
values_ta = {
|
||||
"Travel_Assist_Status": 4 if acc_enabled else 2,
|
||||
"Travel_Assist_Request": 0,
|
||||
"Travel_Assist_Available": 1,
|
||||
}
|
||||
|
||||
commands.append(packer.make_can_msg("TA_01", bus, values_ta))
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible, distance_bars, show_distance_bars, distance, fcw_alert):
|
||||
values = {
|
||||
"ACC_Status_ACC": acc_status,
|
||||
"ACC_Tempolimit": 0,
|
||||
"ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
|
||||
"ACC_Gesetzte_Zeitluecke": distance_bars, # 5 distance bars available (3 are used by OP)
|
||||
"ACC_Display_Prio": 0 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 1, # probably keeping warning in front
|
||||
"ACC_Optischer_Fahrerhinweis": 1 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # enables optical warning
|
||||
"ACC_Akustischer_Fahrerhinweis": 3 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # enables sound warning
|
||||
"ACC_Texte_Zusatzanz_02": 11 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # type of warning: Break!
|
||||
"ACC_Abstandsindex_02": 569, # seems to be default for MEB but is not static in every case
|
||||
"ACC_EGO_Fahrzeug": 2 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else
|
||||
(1 if acc_status == ACC_HUD_ACTIVE else 0), # red car warn symbol for fcw
|
||||
"Lead_Type_Detected": 1 if lead_visible else 0, # object should be displayed
|
||||
"Lead_Type": 3 if lead_visible else 0, # displaying a car
|
||||
"Lead_Distance": distance if lead_visible else 0, # hud distance of object
|
||||
"ACC_Enabled": 1 if acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0,
|
||||
"ACC_Standby_Override": 1 if acc_status != ACC_HUD_ACTIVE else 0,
|
||||
"Street_Color": 1 if acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # light grey (1) or dark (0) street
|
||||
"Lead_Brightness": 3 if acc_status == ACC_HUD_ACTIVE else 0, # object shows in color
|
||||
# TODO: a nice speed dependent bar distance
|
||||
"Zeitluecke_1": 0, # desired distance to lead object for distance bar 1
|
||||
"Zeitluecke_2": 0, # desired distance to lead object for distance bar 2
|
||||
"Zeitluecke_3": 0, # desired distance to lead object for distance bar 3
|
||||
"Zeitluecke_4": 0, # desired distance to lead object for distance bar 4
|
||||
"Zeitluecke_5": 0, # desired distance to lead object for distance bar 5
|
||||
"Zeitluecke_Farbe": 1 if acc_status in (ACC_HUD_ENABLED, ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # yellow (1) or white (0) time gap
|
||||
"ACC_Anzeige_Zeitluecke": show_distance_bars if acc_status != ACC_HUD_DISABLED else 0, # show distance bar selection
|
||||
"SET_ME_0X1": 0x1, # unknown
|
||||
"SET_ME_0X6A": 0x6A, # unknown
|
||||
"SET_ME_0XFFFF": 0xFFFF, # unknown
|
||||
"SET_ME_0X7FFF": 0x7FFF, # unknown
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ACC_19", bus, values)
|
||||
|
||||
|
||||
def create_capacitive_wheel_touch(packer, bus, lat_active, klr_stock_values):
|
||||
values = {s: klr_stock_values[s] for s in [
|
||||
"COUNTER",
|
||||
"KLR_Touchintensitaet_1",
|
||||
"KLR_Touchintensitaet_2",
|
||||
"KLR_Touchintensitaet_3",
|
||||
"KLR_Touchauswertung",
|
||||
]}
|
||||
|
||||
if lat_active:
|
||||
values.update({
|
||||
"COUNTER": (klr_stock_values["COUNTER"] + 1) % 16,
|
||||
"KLR_Touchintensitaet_1": 80,
|
||||
"KLR_Touchintensitaet_2": 200,
|
||||
"KLR_Touchintensitaet_3": 10,
|
||||
"KLR_Touchauswertung": 10,
|
||||
})
|
||||
return packer.make_can_msg("KLR_01", bus, values)
|
||||
@@ -1,85 +0,0 @@
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.interfaces import RadarInterfaceBase
|
||||
from opendbc.car.volkswagen.values import DBC, VolkswagenFlags, CanBus
|
||||
|
||||
NO_OBJECT_ID = 0
|
||||
LANE_TYPES = ("Same_Lane", "Left_Lane", "Right_Lane")
|
||||
SIGNAL_SETS = tuple(
|
||||
(
|
||||
f"{prefix}_ObjectID",
|
||||
f"{prefix}_Long_Distance",
|
||||
f"{prefix}_Lat_Distance",
|
||||
f"{prefix}_Rel_Velo",
|
||||
)
|
||||
for lane in LANE_TYPES
|
||||
for idx in (1, 2)
|
||||
for prefix in (f"{lane}_0{idx}",)
|
||||
)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
|
||||
# With the MEB gateway harness, we do not have access to the raw points from the radar.
|
||||
# However, the camera publishes decent, albeit filtered, tracks. Two for each lane; left, center, and right.
|
||||
self.rcp: CANParser | None = None
|
||||
if CP.flags & VolkswagenFlags.MEB and not self.CP.radarUnavailable:
|
||||
self.rcp = CANParser(DBC[CP.carFingerprint][Bus.radar], [("MEB_Distance_01", 25)], CanBus(CP).cam)
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None:
|
||||
return super().update(None)
|
||||
|
||||
self.rcp.update(can_strings)
|
||||
|
||||
if len(self.rcp.vl_all["MEB_Distance_01"]["Distance_Status"]) == 0:
|
||||
return None
|
||||
|
||||
return self._update()
|
||||
|
||||
def _update(self):
|
||||
ret = structs.RadarData()
|
||||
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
return ret
|
||||
|
||||
msg = self.rcp.vl["MEB_Distance_01"]
|
||||
|
||||
# Can be 3 when radar sensor is obstructed
|
||||
if msg["Distance_Status"] != 0:
|
||||
ret.errors.radarUnavailableTemporary = True
|
||||
|
||||
seen_ids = set()
|
||||
for obj_id_sig, long_sig, lat_sig, vel_sig in SIGNAL_SETS:
|
||||
obj_id = int(msg[obj_id_sig])
|
||||
if obj_id == NO_OBJECT_ID:
|
||||
continue
|
||||
|
||||
# We shouldn't see duplicate track ids
|
||||
if obj_id in seen_ids:
|
||||
ret.errors.radarFault = True
|
||||
return ret
|
||||
|
||||
seen_ids.add(obj_id)
|
||||
|
||||
if obj_id not in self.pts:
|
||||
pt = structs.RadarData.RadarPoint()
|
||||
pt.trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[obj_id] = pt
|
||||
else:
|
||||
pt = self.pts[obj_id]
|
||||
|
||||
pt.dRel = msg[long_sig]
|
||||
pt.yRel = msg[lat_sig]
|
||||
pt.vRel = msg[vel_sig]
|
||||
|
||||
inactive_ids = self.pts.keys() - seen_ids
|
||||
for obj_id in inactive_ids:
|
||||
self.pts.pop(obj_id, None)
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
return ret
|
||||
@@ -3,7 +3,7 @@ import re
|
||||
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.volkswagen.interface import CarInterface
|
||||
from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI, VolkswagenFlags, VolkswagenSafetyFlags
|
||||
from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI
|
||||
from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
@@ -14,52 +14,6 @@ SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P<gateway>[0-9][0-9A-Z]{2})(?P<un
|
||||
|
||||
|
||||
class TestVolkswagenPlatformConfigs:
|
||||
MEB_CARS = {car for car in CAR if car.config.flags & VolkswagenFlags.MEB}
|
||||
|
||||
@staticmethod
|
||||
def _get_meb_params(car, gateway=True, alpha_long=False):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
if gateway:
|
||||
fingerprint[1][0x13D] = 32
|
||||
return CarInterface.get_params(car, fingerprint, [], alpha_long, False, False, None)
|
||||
|
||||
def test_meb_platform_params(self):
|
||||
for car in self.MEB_CARS:
|
||||
cp = self._get_meb_params(car)
|
||||
assert cp.flags & VolkswagenFlags.MEB
|
||||
assert cp.transmissionType == CarParams.TransmissionType.direct
|
||||
assert cp.steerControlType == CarParams.SteerControlType.curvatureDEPRECATED
|
||||
assert cp.steerAtStandstill
|
||||
assert cp.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.volkswagenMeb
|
||||
assert not cp.dashcamOnly
|
||||
assert not cp.radarUnavailable
|
||||
|
||||
has_gen2_crc = bool(cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.MEB_ALT_CRC)
|
||||
assert has_gen2_crc == bool(car.config.flags & VolkswagenFlags.MEB_GEN2)
|
||||
|
||||
def test_meb_camera_harness_is_passive(self):
|
||||
cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=False, alpha_long=True)
|
||||
assert cp.dashcamOnly
|
||||
assert cp.radarUnavailable
|
||||
assert not cp.alphaLongitudinalAvailable
|
||||
assert not cp.openpilotLongitudinalControl
|
||||
assert not (cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL)
|
||||
|
||||
def test_meb_docs_assume_required_gateway_harness(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
cp = CarInterface.get_params(CAR.VOLKSWAGEN_ID4_MK1, fingerprint, [], True, False, True, None)
|
||||
|
||||
assert cp.networkLocation == CarParams.NetworkLocation.gateway
|
||||
assert not cp.dashcamOnly
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
|
||||
def test_meb_gateway_longitudinal(self):
|
||||
cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=True, alpha_long=True)
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
assert cp.openpilotLongitudinalControl
|
||||
assert not cp.pcmCruise
|
||||
assert cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL
|
||||
|
||||
def test_taos_longitudinal_actuator_delay(self):
|
||||
taos_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_TAOS_MK1)
|
||||
golf_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_GOLF_MK7)
|
||||
@@ -83,39 +37,32 @@ class TestVolkswagenPlatformConfigs:
|
||||
assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in
|
||||
platform.config.chassis_codes), "Bad chassis codes"
|
||||
|
||||
# Shared MEB chassis codes are valid only when VIN model-year sets are disjoint.
|
||||
# No two platforms should share chassis codes
|
||||
for comp in CAR:
|
||||
if platform == comp:
|
||||
continue
|
||||
shared_chassis = platform.config.chassis_codes & comp.config.chassis_codes
|
||||
if shared_chassis:
|
||||
both_meb = platform.config.flags & VolkswagenFlags.MEB and comp.config.flags & VolkswagenFlags.MEB
|
||||
disjoint_years = (getattr(platform.config, "model_years", set()) and getattr(comp.config, "model_years", set()) and
|
||||
not platform.config.model_years & comp.config.model_years)
|
||||
assert both_meb and disjoint_years, f"Shared chassis codes: {comp}"
|
||||
assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \
|
||||
f"Shared chassis codes: {comp}"
|
||||
|
||||
def test_custom_fuzzy_fingerprinting(self, subtests):
|
||||
all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})
|
||||
|
||||
for platform in CAR:
|
||||
with subtests.test(platform=platform.name):
|
||||
model_years = getattr(platform.config, "model_years", set()) or {"0"}
|
||||
for wmi in WMI:
|
||||
for chassis_code in platform.config.chassis_codes | {"00"}:
|
||||
for model_year in model_years:
|
||||
vin = ["0"] * 17
|
||||
vin[0:3] = wmi
|
||||
vin[6:8] = chassis_code
|
||||
vin[9] = model_year
|
||||
vin = "".join(vin)
|
||||
vin = ["0"] * 17
|
||||
vin[0:3] = wmi
|
||||
vin[6:8] = chassis_code
|
||||
vin = "".join(vin)
|
||||
|
||||
# Check a few FW cases - expected, unexpected
|
||||
for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
|
||||
should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
|
||||
radar_fw in all_radar_fw)
|
||||
# Check a few FW cases - expected, unexpected
|
||||
for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
|
||||
should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
|
||||
radar_fw in all_radar_fw)
|
||||
|
||||
live_fws = {(0x757, None): [radar_fw]}
|
||||
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
|
||||
live_fws = {(0x757, None): [radar_fw]}
|
||||
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
|
||||
|
||||
expected_matches = {platform} if should_match else set()
|
||||
assert expected_matches == matches, "Bad match"
|
||||
expected_matches = {platform} if should_match else set()
|
||||
assert expected_matches == matches, "Bad match"
|
||||
|
||||
@@ -3,7 +3,6 @@ from dataclasses import dataclass, field
|
||||
from enum import Enum, IntFlag, StrEnum
|
||||
|
||||
from opendbc.car import Bus, CanBusBase, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
|
||||
from opendbc.car.lateral import CurvatureSteeringLimits
|
||||
from opendbc.can import CANDefine
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
|
||||
@@ -102,40 +101,6 @@ class CarControllerParams:
|
||||
"laneAssistDeactivTrailer": 5, # "Lane Assist: no function with trailer"
|
||||
}
|
||||
|
||||
elif CP.flags & VolkswagenFlags.MEB:
|
||||
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
self.ACC_HUD_STEP = 6
|
||||
self.KLR_01_STEP = 6 # KLR_01 message frequency 17Hz
|
||||
self.STEER_DRIVER_ALLOWANCE = 100 # Begin reducing steering power at 1.0 Nm driver torque
|
||||
self.STEER_DRIVER_MAX = 300 # Reach minimum steering power at 3.0 Nm driver torque
|
||||
self.STEERING_POWER_MAX = 50
|
||||
self.STEERING_POWER_MIN = 4
|
||||
self.STEERING_POWER_STEP = 2
|
||||
|
||||
self.CURVATURE_MAX = 0.195
|
||||
self.CURVATURE_LIMITS = CurvatureSteeringLimits(self.CURVATURE_MAX)
|
||||
|
||||
self.ACCEL_INACTIVE = 3.01
|
||||
self.JERK_LIMIT = 4.0
|
||||
|
||||
self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
|
||||
self.hca_status_values = can_define.dv["QFK_01"]["LatCon_HCA_Status"]
|
||||
|
||||
self.BUTTONS = [
|
||||
Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [3]),
|
||||
]
|
||||
|
||||
self.LDW_MESSAGES = {
|
||||
"none": 0,
|
||||
"laneAssistTakeOverUrgent": 4,
|
||||
"laneAssistTakeOver": 8,
|
||||
}
|
||||
|
||||
else:
|
||||
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz
|
||||
@@ -214,21 +179,16 @@ class WMI(StrEnum):
|
||||
|
||||
class VolkswagenSafetyFlags(IntFlag):
|
||||
LONG_CONTROL = 1
|
||||
MEB_ALT_CRC = 2
|
||||
|
||||
|
||||
class VolkswagenFlags(IntFlag):
|
||||
# Detected flags
|
||||
STOCK_HCA_PRESENT = 1
|
||||
KOMBI_PRESENT = 4
|
||||
ALT_GEAR = 32
|
||||
STOCK_KLR_PRESENT = 64
|
||||
|
||||
# Static flags
|
||||
PQ = 2
|
||||
MLB = 8
|
||||
MEB = 16
|
||||
MEB_GEN2 = 128
|
||||
|
||||
|
||||
@dataclass
|
||||
@@ -250,19 +210,6 @@ class VolkswagenMQBPlatformConfig(PlatformConfig):
|
||||
wmis: set[WMI] = field(default_factory=set)
|
||||
|
||||
|
||||
@dataclass
|
||||
class VolkswagenMEBPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_meb_generated', Bus.radar: 'vw_meb_generated'})
|
||||
chassis_codes: set[str] = field(default_factory=set)
|
||||
wmis: set[WMI] = field(default_factory=set)
|
||||
model_years: set[str] = field(default_factory=set)
|
||||
|
||||
def init(self):
|
||||
self.flags |= VolkswagenFlags.MEB
|
||||
if self.flags & VolkswagenFlags.MEB_GEN2:
|
||||
self.dbc_dict = {Bus.pt: 'vw_meb_2024_generated', Bus.radar: 'vw_meb_2024_generated'}
|
||||
|
||||
|
||||
@dataclass
|
||||
class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_pq'})
|
||||
@@ -318,7 +265,7 @@ class VWCarDocs(CarDocs):
|
||||
# FW_VERSIONS for that existing CAR.
|
||||
|
||||
class CAR(Platforms):
|
||||
config: VolkswagenMLBPlatformConfig | VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig | VolkswagenMEBPlatformConfig
|
||||
config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig
|
||||
|
||||
VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig(
|
||||
[
|
||||
@@ -380,37 +327,6 @@ class CAR(Platforms):
|
||||
chassis_codes={"5G", "AU", "BA", "BE"},
|
||||
wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
|
||||
)
|
||||
VOLKSWAGEN_ID3_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Volkswagen ID.3 2020-23")],
|
||||
VolkswagenCarSpecs(mass=1935, wheelbase=2.77),
|
||||
chassis_codes={"E1"},
|
||||
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
|
||||
model_years={"L", "M", "N", "P"},
|
||||
)
|
||||
VOLKSWAGEN_ID3_MK2 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Volkswagen ID.3 2024-25")],
|
||||
VolkswagenCarSpecs(mass=1935, wheelbase=2.77),
|
||||
chassis_codes={"E1"},
|
||||
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
|
||||
model_years={"R", "S"},
|
||||
flags=VolkswagenFlags.MEB_GEN2,
|
||||
)
|
||||
VOLKSWAGEN_ID4_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[
|
||||
VWCarDocs("Volkswagen ID.4 2021-23"),
|
||||
VWCarDocs("Volkswagen ID.5 2022-23"),
|
||||
],
|
||||
VolkswagenCarSpecs(mass=2224, wheelbase=2.77),
|
||||
chassis_codes={"E2"},
|
||||
wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_CAR, WMI.VOLKSWAGEN_EUROPE_SUV},
|
||||
)
|
||||
VOLKSWAGEN_ID4_MK2 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Volkswagen ID.4 2024-25")],
|
||||
VolkswagenCarSpecs(mass=2224, wheelbase=2.77),
|
||||
chassis_codes={"E8"},
|
||||
wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_CAR, WMI.VOLKSWAGEN_EUROPE_SUV},
|
||||
flags=VolkswagenFlags.MEB_GEN2,
|
||||
)
|
||||
VOLKSWAGEN_JETTA_MK6 = VolkswagenPQPlatformConfig(
|
||||
[VWCarDocs("Volkswagen Jetta 2015-18")],
|
||||
VolkswagenCarSpecs(mass=1518, wheelbase=2.65, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
|
||||
@@ -525,21 +441,6 @@ class CAR(Platforms):
|
||||
chassis_codes={"8U", "F3", "FS"},
|
||||
wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},
|
||||
)
|
||||
AUDI_Q4_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Audi Q4 e-tron 2021-23")],
|
||||
VolkswagenCarSpecs(mass=1965, wheelbase=2.764),
|
||||
chassis_codes={"FZ"},
|
||||
wmis={WMI.AUDI_EUROPE_MPV},
|
||||
model_years={"M", "N", "P"},
|
||||
)
|
||||
AUDI_Q4_MK2 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Audi Q4 e-tron 2024-25")],
|
||||
VolkswagenCarSpecs(mass=1965, wheelbase=2.764),
|
||||
chassis_codes={"FZ"},
|
||||
wmis={WMI.AUDI_EUROPE_MPV},
|
||||
model_years={"R", "S"},
|
||||
flags=VolkswagenFlags.MEB_GEN2,
|
||||
)
|
||||
PORSCHE_MACAN_MK1 = VolkswagenMLBPlatformConfig(
|
||||
[VWCarDocs("Porsche Macan 2017-24")],
|
||||
VolkswagenCarSpecs(mass=1895, wheelbase=2.81, steerRatio=16.2),
|
||||
@@ -556,27 +457,6 @@ class CAR(Platforms):
|
||||
chassis_codes={"5F"},
|
||||
wmis={WMI.SEAT},
|
||||
)
|
||||
CUPRA_BORN_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("CUPRA Born 2021-23")],
|
||||
VolkswagenCarSpecs(mass=1956, wheelbase=2.766, steerRatio=15.9),
|
||||
chassis_codes={"K1"},
|
||||
wmis={WMI.SEAT},
|
||||
)
|
||||
SKODA_ENYAQ_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Škoda Enyaq 2021-23")],
|
||||
VolkswagenCarSpecs(mass=1965, wheelbase=2.77),
|
||||
chassis_codes={"NY"},
|
||||
model_years={"M", "N", "P"},
|
||||
wmis={WMI.SKODA},
|
||||
)
|
||||
SKODA_ENYAQ_MK2 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Škoda Enyaq 2024-25")],
|
||||
VolkswagenCarSpecs(mass=1965, wheelbase=2.77),
|
||||
chassis_codes={"NY"},
|
||||
model_years={"R", "S"},
|
||||
wmis={WMI.SKODA},
|
||||
flags=VolkswagenFlags.MEB_GEN2,
|
||||
)
|
||||
SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
|
||||
[VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
|
||||
VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
|
||||
@@ -635,7 +515,6 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
|
||||
# https://www.clubvw.org.au/vwreference/vwvin
|
||||
vin_obj = Vin(vin)
|
||||
chassis_code = vin_obj.vds[3:5]
|
||||
model_year = vin_obj.vis[0] if vin_obj.vis else ""
|
||||
|
||||
for platform in CAR:
|
||||
valid_ecus = set()
|
||||
@@ -656,8 +535,6 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
|
||||
continue
|
||||
|
||||
if vin_obj.wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes:
|
||||
if platform.config.flags & VolkswagenFlags.MEB and platform.config.model_years and model_year not in platform.config.model_years:
|
||||
continue
|
||||
candidates.add(platform)
|
||||
|
||||
return {str(c) for c in candidates}
|
||||
@@ -705,7 +582,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
non_essential_ecus={Ecu.eps: list(CAR)},
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
|
||||
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
|
||||
fuzzy_only_platforms={car for car in CAR if car.config.flags & VolkswagenFlags.MEB},
|
||||
)
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
@@ -430,8 +430,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
@@ -431,8 +431,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
@@ -349,7 +349,6 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ AMBIENT_LIGHT_MAYBE : 23|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
@@ -561,8 +560,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
@@ -128,7 +128,6 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ AMBIENT_LIGHT_MAYBE : 23|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -34,8 +34,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
@@ -5,71 +5,3 @@ CM_ "IMPORT _lkas_hud_8byte.dbc";
|
||||
CM_ "IMPORT _bosch_standstill.dbc";
|
||||
CM_ "IMPORT _steering_sensors_a.dbc";
|
||||
CM_ "IMPORT _gearbox_common.dbc";
|
||||
|
||||
BO_ 929 RADAR_REFERENCE: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 784 RADAR_HUD_CANFD: 8 XXX
|
||||
SG_ SET_ME_X01 : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X01_2 : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CMBS_ENABLED_MAYBE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ON : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 114120024 LANE_PATH: 8 XXX
|
||||
SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ PATH_OFFSET_1 m1 : 15|12@0- (1,0) [-2048|2047] "" XXX
|
||||
SG_ PATH_OFFSET_2 m1 : 19|12@0- (1,0) [-2048|2047] "" XXX
|
||||
SG_ PATH_OFFSET_3 m1 : 39|12@0- (1,0) [-2048|2047] "" XXX
|
||||
SG_ PATH_OFFSET_4 m1 : 43|12@0- (1,0) [-2048|2047] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 114120025 HUD_OBJECTS: 8 XXX
|
||||
SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ OBJECT_ID m1 : 15|5@0+ (1,0) [0|31] "" XXX
|
||||
SG_ IS_LEAD_CAR m1 : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CAR_TYPE m1 : 23|4@0- (1,0) [-8|7] "" XXX
|
||||
SG_ ROTATION m1 : 31|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ LONG_DIST m1 : 39|10@0+ (0.209,-16.9) [-16.9|196.9] "m" XXX
|
||||
SG_ LAT_DIST m1 : 43|12@0- (0.1,0) [-204.8|204.7] "m" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 254913106 RADAR_LEAD2: 8 XXX
|
||||
SG_ SET_ME_X88 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X78 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LEAD_DISTANCE_MAYBE : 23|11@0+ (1,0) [0|2047] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 254913116 RADAR_LEAD: 8 XXX
|
||||
SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CNTR_REF : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TARGET_SPEED_MAYBE : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LANE_PATH_LENGTH : 31|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 440773198 BOSCH_SUPPLEMENTAL_CANFD: 8 XXX
|
||||
SG_ SET_ME_X01 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X41 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1808 RADAR_SUPP_TICK_REFERENCE: 32 XXX
|
||||
SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1840 RADAR_HUD_TICK_REFERENCE: 6 XXX
|
||||
SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1872 RADAR_50HZ_TICK_REFERENCE: 16 XXX
|
||||
SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 254913116 LANE_PATH_LENGTH "number of valid LANE_PATH points in the current sweep (6 = idle/no lane, up to 23-24); the dash needs this to match the in-band 2047 terminator to draw the lane lines";
|
||||
CM_ SG_ 254913116 LEFT_LANE "3 = left lane line detected, 0 = none; tracks the camera's LKAS_HUD LANE_LINES bit 1 exactly in factory logs. The CAN FD equivalent of radarless LKAS_HUD_2 LEFT_LANE; the dash won't draw the lane lines while both are 0";
|
||||
CM_ SG_ 254913116 RIGHT_LANE "3 = right lane line detected, 0 = none; tracks the camera's LKAS_HUD LANE_LINES bit 0 exactly in factory logs. The CAN FD equivalent of radarless LKAS_HUD_2 RIGHT_LANE; the dash won't draw the lane lines while both are 0";
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,132 +0,0 @@
|
||||
CM_ "IMPORT _vw_meb_common.dbc";
|
||||
|
||||
BO_ 190 MEB_HVEM_01: 48 XXX
|
||||
SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CNT : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Engine_RPM_Max : 12|14@1+ (2,-9658) [0|15] "RPM" XXX
|
||||
SG_ Engine_RPM_Min : 26|14@1+ (2,-10300) [0|63] "RPM" XXX
|
||||
SG_ In_Motion_04 : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ In_Motion_03 : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ In_Motion_02 : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Engine_Power : 56|12@1+ (0.5,-1023) [0|255] "kW" XXX
|
||||
SG_ In_Motion : 68|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Standstill : 71|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_04 : 72|10@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Battery_Voltage : 86|12@1+ (0.2,0) [0|3] "Volt" XXX
|
||||
SG_ Unknown_01 : 100|9@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Battery_Voltage_02 : 113|11@1+ (0.24,0) [0|127] "Volt" XXX
|
||||
SG_ Engine_Status : 296|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Inactive : 300|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Inactive_02 : 303|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 252 ESC_51: 48 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Accelerator_Higher_Speed : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pressure : 42|9@1+ (0.195,0) [0|100] "Unit_Percent" XXX
|
||||
SG_ HL_Radgeschw : 64|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ HR_Radgeschw : 80|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ VL_Radgeschw : 96|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ VR_Radgeschw : 112|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ HL_Brake_Pressure : 152|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ HR_Brake_Pressure : 160|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ VL_Brake_Pressure : 168|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ VR_Brake_Pressure : 176|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ Steering_Wheel_CW : 184|8@1+ (1.67,0) [0|255] "" XXX
|
||||
SG_ Steering_Wheel_CCW : 192|8@1+ (1.67,0) [0|255] "" XXX
|
||||
|
||||
BO_ 267 Motor_51: 32 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
|
||||
SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
|
||||
SG_ TSK_Status : 88|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ TSK_Limiter_ausgewaehlt : 95|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 496 EA_02: 8 Gateway
|
||||
SG_ EA_02_CRC : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
SG_ EA_02_BZ : 8|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ EA_Texte : 12|4@1+ (1,0) [0|15] "" ZR_High
|
||||
SG_ ACF_Lampe_Hands_Off : 16|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ EA_Infotainment_Anf : 22|2@1+ (1,0) [0|3] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3,ZR_Standard
|
||||
SG_ EA_Tueren_Anf : 24|1@1+ (1,0) [0|1] "" ZR_High
|
||||
SG_ EA_Innenraumlicht_Anf : 25|1@1+ (1,0) [0|1] "" ZR_High
|
||||
SG_ zFAS_Warnblinken : 26|2@1+ (1,0) [0|3] "" ZR_High
|
||||
SG_ STP_Primaeranz : 28|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ EA_Bremslichtblinken : 31|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ EA_Blinken : 32|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ EA_Unknown : 60|3@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 588 MEB_Side_Assist_01: 16 XXX
|
||||
SG_ Blind_Spot_Right : 12|7@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Blind_Spot_Left : 19|7@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Blind_Spot_Info_Right : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Warn_Right : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Info_Left : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Warn_Left : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lower_Speed_01 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Higher_Speed_01 : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Higher_Speed_02 : 83|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lower_Speed_02 : 84|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 86|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 619 TA_01: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Travel_Assist_Status : 13|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Travel_Assist_Request : 19|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Travel_Assist_Available : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 768 ACC_19: 48 XXX
|
||||
SG_ ACC_Tempolimit : 64|5@1+ (1,0) [0|31] "" OTA_FC
|
||||
SG_ ACC_Wunschgeschw_Farbe : 69|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Warnung_Verkehrszeichen_1 : 70|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACA_Querfuehrung : 71|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ Unknown_02 : 73|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Regelung_AIO : 75|1@1+ (1,0) [0|1] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
|
||||
SG_ ACC_Wunschgeschw_02 : 76|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Vector__XXX
|
||||
SG_ ACC_Abstandsindex_02 : 86|10@1+ (1,0) [1|1021] "" Vector__XXX
|
||||
SG_ ACC_Display_Prio : 96|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_rel_Objekt_Zusatzanz : 98|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_Gesetzte_Zeitluecke : 101|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ ACC_Optischer_Fahrerhinweis : 104|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Warnhinweis : 105|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_EGO_Fahrzeug : 106|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ ACC_Relevantes_Objekt_02 : 109|2@1+ (1,0) [0|3] "" OTA_FC,ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
|
||||
SG_ ACC_Wunschgeschw_erreicht : 112|1@1+ (1,0) [0|1] "" OTA_FC
|
||||
SG_ ACC_Anzeige_Zeitluecke : 113|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Texte_Primaeranz_02 : 114|6@1+ (1,0) [0|63] "" Vector__XXX
|
||||
SG_ ACC_Texte_Zusatzanz_02 : 120|6@1+ (1,0) [0|63] "" Vector__XXX
|
||||
SG_ STA_Primaeranz : 126|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ SET_ME_0X3FF : 140|10@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Heartbeat : 150|9@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_0XFFFF : 160|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ ACC_Enabled : 186|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Zeitluecke_Farbe : 189|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_0X1 : 199|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Status_ACC : 208|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ACC_Akustischer_Fahrerhinweis : 211|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_08 : 224|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_01 : 225|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_06 : 226|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_07 : 228|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_0X7FFF : 240|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Unknown_09 : 262|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ Lead_Type_Detected : 265|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Standby_Override : 266|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Street_Color : 267|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Limiter_Mode : 268|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lead_Brightness : 269|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ SET_ME_0X6A : 273|8@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Lead_Type : 287|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Lead_Distance : 290|10@1+ (0.2,0) [0|7] "Unit_Meter" XXX
|
||||
SG_ ACC_Events : 332|4@0+ (1,0) [0|3] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_1 : 334|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_2 : 344|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_3 : 354|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_4 : 364|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_5 : 374|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
|
||||
VAL_ 768 ACC_Events 3 "Starting_Available" 0 "None" 5 "Speed_Limit_Camera" 9 "Street_Type" 4 "Speed_Limit_in_Nav";
|
||||
@@ -1,134 +0,0 @@
|
||||
CM_ "IMPORT _vw_meb_common.dbc";
|
||||
|
||||
BO_ 190 MEB_HVEM_01: 48 XXX
|
||||
SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CNT : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Engine_RPM_Max : 12|14@1+ (2,-9658) [0|15] "RPM" XXX
|
||||
SG_ Engine_RPM_Min : 26|14@1+ (2,-10300) [0|63] "RPM" XXX
|
||||
SG_ In_Motion_04 : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ In_Motion_03 : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ In_Motion_02 : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Engine_Power : 56|12@1+ (0.5,-1023) [0|255] "kW" XXX
|
||||
SG_ In_Motion : 68|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Standstill : 71|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Voltage : 86|12@1+ (0.24,0) [0|3] "V" XXX
|
||||
SG_ Battery_Voltage : 113|13@1+ (0.065,0) [0|127] "V" XXX
|
||||
SG_ Engine_Status : 296|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Inactive : 300|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Inactive_02 : 303|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 496 EA_02: 8 Gateway
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ EA_Texte : 12|4@1+ (1,0) [0|15] "" ZR_High
|
||||
SG_ ACF_Lampe_Hands_Off : 16|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ EA_Infotainment_Anf : 22|2@1+ (1,0) [0|3] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3,ZR_Standard
|
||||
SG_ EA_Tueren_Anf : 24|1@1+ (1,0) [0|1] "" ZR_High
|
||||
SG_ EA_Innenraumlicht_Anf : 25|1@1+ (1,0) [0|1] "" ZR_High
|
||||
SG_ zFAS_Warnblinken : 26|2@1+ (1,0) [0|3] "" ZR_High
|
||||
SG_ STP_Primaeranz : 28|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ EA_Bremslichtblinken : 31|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ EA_Blinken : 32|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
|
||||
BO_ 588 MEB_Side_Assist_01: 16 XXX
|
||||
SG_ Blind_Spot_Passenger : 12|7@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Blind_Spot_Driver : 19|7@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Blind_Spot_Info_Passenger : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Warn_Passenger : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Info_Driver : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Warn_Driver : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lower_Speed_01 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Higher_Speed_01 : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Higher_Speed_02 : 83|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lower_Speed_02 : 84|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 86|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 768 ACC_19: 48 XXX
|
||||
SG_ ACC_Tempolimit : 64|5@1+ (1,0) [0|31] "" OTA_FC
|
||||
SG_ ACC_Wunschgeschw_Farbe : 69|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Warnung_Verkehrszeichen_1 : 70|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACA_Querfuehrung : 71|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_Regelung_AIO : 75|1@1+ (1,0) [0|1] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
|
||||
SG_ ACC_Wunschgeschw_02 : 76|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Vector__XXX
|
||||
SG_ ACC_Abstandsindex_02 : 86|10@1+ (1,0) [1|1021] "" Vector__XXX
|
||||
SG_ ACC_Display_Prio : 96|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_rel_Objekt_Zusatzanz : 98|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_Gesetzte_Zeitluecke : 101|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ ACC_Optischer_Fahrerhinweis : 104|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Warnhinweis : 105|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_EGO_Fahrzeug : 106|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ ACC_Relevantes_Objekt_02 : 109|2@1+ (1,0) [0|3] "" OTA_FC,ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
|
||||
SG_ ACC_Wunschgeschw_erreicht : 112|1@1+ (1,0) [0|1] "" OTA_FC
|
||||
SG_ ACC_Anzeige_Zeitluecke : 113|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Texte_Primaeranz_02 : 114|6@1+ (1,0) [0|63] "" Vector__XXX
|
||||
SG_ ACC_Texte_Zusatzanz_02 : 120|6@1+ (1,0) [0|63] "" Vector__XXX
|
||||
SG_ STA_Primaeranz : 126|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_Event_Wunschgeschw : 140|10@1+ (0.32,0) [0|15] "" XXX
|
||||
SG_ Heartbeat : 150|9@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_0XFFFF : 160|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ ACC_Enabled : 186|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Zeitluecke_Farbe : 189|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_0X1 : 199|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Status_ACC : 208|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ACC_Akustischer_Fahrerhinweis : 211|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_0X7FFF : 240|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Lead_Type_Detected : 265|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Standby_Override : 266|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Street_Color : 267|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Limiter_Mode : 268|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lead_Brightness : 269|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ SET_ME_0X6A : 273|8@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Lead_Position : 281|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Lead_Type : 287|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Lead_Distance : 290|10@1+ (0.2,0) [0|7] "Unit_Meter" XXX
|
||||
SG_ Lead_Distance_Right : 300|10@1+ (0.2,0) [0|15] "Unit_Meter" XXX
|
||||
SG_ Lead_Distance_Left : 310|10@1+ (0.2,0) [0|3] "Unit_Meter" XXX
|
||||
SG_ ACC_Events : 332|4@0+ (1,0) [0|3] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_1 : 334|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_2 : 344|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_3 : 354|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_4 : 364|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_5 : 374|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
|
||||
VAL_ 768 ACC_Event_Wunschgeschw 1023 "None";
|
||||
VAL_ 768 ACC_Events 3 "Starting_Available" 0 "None" 5 "Speed_Limit_Detected" 9 "Crossing" 4 "Speed_Limit_Ahead" 10 "Roundabout" 6 "Curve";
|
||||
|
||||
BO_ 252 ESC_51: 64 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Accelerator_Higher_Speed : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pressure : 42|9@1+ (0.195,0) [0|100] "Unit_Percent" XXX
|
||||
SG_ HL_Radgeschw : 64|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ HR_Radgeschw : 80|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ VL_Radgeschw : 96|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ VR_Radgeschw : 112|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ HL_Brake_Pressure : 152|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ HR_Brake_Pressure : 160|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ VL_Brake_Pressure : 168|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ VR_Brake_Pressure : 176|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ Steering_Wheel_CW : 184|8@1+ (1.67,0) [0|255] "" XXX
|
||||
SG_ Steering_Wheel_CCW : 192|8@1+ (1.67,0) [0|255] "" XXX
|
||||
SG_ ESC_v_Signal : 328|13@1+ (0.052,-107.016) [0|63] "" XXX
|
||||
|
||||
BO_ 267 Motor_51: 48 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
|
||||
SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
|
||||
SG_ TSK_Status : 88|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ TSK_Limiter_ausgewaehlt : 95|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 619 TA_01: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Travel_Assist_Status : 13|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Speed_Mode_01 : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Speed_Mode_02 : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Travel_Assist_Request : 19|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Init : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Travel_Assist_Available : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Speed_Mode_Status : 32|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Lane_Unsure : 37|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -349,7 +349,6 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ AMBIENT_LIGHT_MAYBE : 23|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
@@ -533,8 +532,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
@@ -349,7 +349,6 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ AMBIENT_LIGHT_MAYBE : 23|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
@@ -565,8 +564,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
@@ -434,8 +434,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
@@ -434,8 +434,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
@@ -349,7 +349,6 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ AMBIENT_LIGHT_MAYBE : 23|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
@@ -566,78 +565,10 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
CM_ "honda_common_canfd.dbc starts here";
|
||||
|
||||
BO_ 929 RADAR_REFERENCE: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 784 RADAR_HUD_CANFD: 8 XXX
|
||||
SG_ SET_ME_X01 : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X01_2 : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CMBS_ENABLED_MAYBE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ON : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 114120024 LANE_PATH: 8 XXX
|
||||
SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ PATH_OFFSET_1 m1 : 15|12@0- (1,0) [-2048|2047] "" XXX
|
||||
SG_ PATH_OFFSET_2 m1 : 19|12@0- (1,0) [-2048|2047] "" XXX
|
||||
SG_ PATH_OFFSET_3 m1 : 39|12@0- (1,0) [-2048|2047] "" XXX
|
||||
SG_ PATH_OFFSET_4 m1 : 43|12@0- (1,0) [-2048|2047] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 114120025 HUD_OBJECTS: 8 XXX
|
||||
SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ OBJECT_ID m1 : 15|5@0+ (1,0) [0|31] "" XXX
|
||||
SG_ IS_LEAD_CAR m1 : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CAR_TYPE m1 : 23|4@0- (1,0) [-8|7] "" XXX
|
||||
SG_ ROTATION m1 : 31|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ LONG_DIST m1 : 39|10@0+ (0.209,-16.9) [-16.9|196.9] "m" XXX
|
||||
SG_ LAT_DIST m1 : 43|12@0- (0.1,0) [-204.8|204.7] "m" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 254913106 RADAR_LEAD2: 8 XXX
|
||||
SG_ SET_ME_X88 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X78 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LEAD_DISTANCE_MAYBE : 23|11@0+ (1,0) [0|2047] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 254913116 RADAR_LEAD: 8 XXX
|
||||
SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CNTR_REF : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TARGET_SPEED_MAYBE : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LANE_PATH_LENGTH : 31|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 440773198 BOSCH_SUPPLEMENTAL_CANFD: 8 XXX
|
||||
SG_ SET_ME_X01 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X41 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1808 RADAR_SUPP_TICK_REFERENCE: 32 XXX
|
||||
SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1840 RADAR_HUD_TICK_REFERENCE: 6 XXX
|
||||
SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1872 RADAR_50HZ_TICK_REFERENCE: 16 XXX
|
||||
SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 254913116 LANE_PATH_LENGTH "number of valid LANE_PATH points in the current sweep (6 = idle/no lane, up to 23-24); the dash needs this to match the in-band 2047 terminator to draw the lane lines";
|
||||
CM_ SG_ 254913116 LEFT_LANE "3 = left lane line detected, 0 = none; tracks the camera's LKAS_HUD LANE_LINES bit 1 exactly in factory logs. The CAN FD equivalent of radarless LKAS_HUD_2 LEFT_LANE; the dash won't draw the lane lines while both are 0";
|
||||
CM_ SG_ 254913116 RIGHT_LANE "3 = right lane line detected, 0 = none; tracks the camera's LKAS_HUD LANE_LINES bit 0 exactly in factory logs. The CAN FD equivalent of radarless LKAS_HUD_2 RIGHT_LANE; the dash won't draw the lane lines while both are 0";
|
||||
|
||||
@@ -429,8 +429,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
|
||||
CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
|
||||
VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
|
||||
VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
|
||||
VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
|
||||
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||
|
||||
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Reference in New Issue
Block a user