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https://github.com/firestar5683/StarPilot.git
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20 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Prabhaav Pillai
|
345cfe172e | ||
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Prabhaav Pillai
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075d664867 | ||
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Prabhaav Pillai
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801654fd8d | ||
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Prabhaav Pillai
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50f8ada119 | ||
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Prabhaav Pillai
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37a5826d15 | ||
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Prabhaav Pillai
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ef2850f619 | ||
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Prabhaav Pillai
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c37e9a2fc4 | ||
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Prabhaav Pillai
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ecc4158666 | ||
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Prabhaav Pillai
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1d02eeac0b | ||
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Prabhaav Pillai
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513fc586cc | ||
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Prabhaav Pillai
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3393c99433 | ||
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Prabhaav Pillai
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8a174822e7 | ||
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Prabhaav Pillai
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3265a98d91 | ||
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Prabhaav Pillai
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5c49878dbd | ||
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Prabhaav Pillai
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740a9cf4ef | ||
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Prabhaav Pillai
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d07d6ae7b7 | ||
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Prabhaav Pillai
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8b5e95a9d5 | ||
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Prabhaav Pillai
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5fe9b3ac8d | ||
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Prabhaav Pillai
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74b68242b2 | ||
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Prabhaav Pillai
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632db8bfd3 |
+4
-51
@@ -1,5 +1,4 @@
|
|||||||
import os
|
import os
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||||||
import importlib
|
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||||||
import shutil
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import shutil
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||||||
import subprocess
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import subprocess
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||||||
import sys
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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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arch = "larch64"
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||||||
assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
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assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
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||||||
|
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||||||
# AGNOS 19.6 ships native dependencies as versioned Python packages. Link
|
|
||||||
# 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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||||||
|
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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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||||||
|
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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.
|
# 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.
|
# 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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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",
|
"-Wno-vla-cxx-extension",
|
||||||
] + cflags + ccflags,
|
] + cflags + ccflags,
|
||||||
|
|
||||||
# Managed dependencies must precede the compatibility sysroot. The sysroot
|
CPPPATH=cpppath + [
|
||||||
# can intentionally retain legacy libraries for C3 support, but new release
|
|
||||||
# binaries must link against the versions shipped in the managed venv.
|
|
||||||
CPPPATH=capnproto_include_dirs + ffmpeg_include_dirs + cpppath + [
|
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"#",
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"#",
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"#third_party/acados/include",
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"#third_party/acados/include",
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"#third_party/acados/include/blasfeo/include",
|
"#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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RANLIB=ranlib,
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LINKFLAGS=ldflags,
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LINKFLAGS=ldflags,
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|
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RPATH=ffmpeg_runtime_lib_dirs + rpath,
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RPATH=rpath,
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|
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CFLAGS=["-std=gnu11"] + cflags,
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CFLAGS=["-std=gnu11"] + cflags,
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CXXFLAGS=["-std=c++1z"] + cxxflags,
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CXXFLAGS=["-std=c++1z"] + cxxflags,
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LIBPATH=capnproto_lib_dirs + ffmpeg_lib_dirs + libpath + [
|
LIBPATH=libpath + [
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"#msgq_repo",
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"#msgq_repo",
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"#third_party",
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"#third_party",
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"#selfdrive/pandad",
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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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SConscript(['cereal/SConscript'])
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|
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Import('socketmaster', 'msgq')
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Import('socketmaster', 'msgq')
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if capnproto is not None:
|
messaging = [socketmaster, msgq, 'capnp', 'kj',]
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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")),
|
|
||||||
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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Export('messaging')
|
Export('messaging')
|
||||||
|
|
||||||
|
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||||||
|
|||||||
@@ -221,11 +221,6 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
|
|||||||
trackingLead @36 :Bool;
|
trackingLead @36 :Bool;
|
||||||
stopSignConfirmed @37 :Bool;
|
stopSignConfirmed @37 :Bool;
|
||||||
pulseGlideCoasting @38 :Bool; # developer-only P&G phase for on-road status UI
|
pulseGlideCoasting @38 :Bool; # developer-only P&G phase for on-road status UI
|
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# Curve Speed Controller diagnostics, for tuning and rollout validation
|
|
||||||
cscOverridden @39 :Bool; # driver cancelled this curve with RES+
|
|
||||||
cscLearnedLatAccel @40 :Float32; # learned comfort at the current curvature, before margin
|
|
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cscBindingDistance @41 :Float32; # distance to the horizon point setting the target, m
|
|
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approachStopLength @42 :Float32; # pre-commit distance to a detected stop, m; 0 when off
|
|
||||||
}
|
}
|
||||||
|
|
||||||
struct StarPilotRadarState @0xb86e6369214c01c8 {
|
struct StarPilotRadarState @0xb86e6369214c01c8 {
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|||||||
Binary file not shown.
Binary file not shown.
+1
-1
@@ -2,7 +2,7 @@ from openpilot.common.params import Params
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|||||||
|
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||||||
|
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||||||
def get_gps_location_service(params: Params) -> str:
|
def get_gps_location_service(params: Params) -> str:
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if params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
|
if params.get_bool("UbloxAvailable"):
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return "gpsLocationExternal"
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return "gpsLocationExternal"
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else:
|
else:
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return "gpsLocation"
|
return "gpsLocation"
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||||||
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|||||||
Binary file not shown.
@@ -20,7 +20,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
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{"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
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{"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
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{"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
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{"CarBatteryCapacity", {PERSISTENT, INT}},
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{"CarBatteryCapacity", {PERSISTENT, INT}},
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{"CarGpsAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
|
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{"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
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{"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||||
{"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
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{"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||||
{"CarParamsPersistent", {PERSISTENT, BYTES}},
|
{"CarParamsPersistent", {PERSISTENT, BYTES}},
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||||||
@@ -63,8 +62,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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|||||||
{"GsmRoaming", {PERSISTENT, BOOL}},
|
{"GsmRoaming", {PERSISTENT, BOOL}},
|
||||||
{"HardwareSerial", {PERSISTENT, STRING}},
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{"HardwareSerial", {PERSISTENT, STRING}},
|
||||||
{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
|
{"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
|
||||||
// Internal kill switch; the platform verification allowlist remains the hard safety gate.
|
|
||||||
{"HondaBoschARadar", {PERSISTENT, BOOL, "1"}},
|
|
||||||
{"HondaGasFactorParams", {PERSISTENT, FLOAT}},
|
{"HondaGasFactorParams", {PERSISTENT, FLOAT}},
|
||||||
{"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
|
{"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
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||||||
{"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
|
{"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
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||||||
@@ -191,7 +188,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
|||||||
{"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
|
{"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
|
||||||
{"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
|
{"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
|
||||||
{"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
|
{"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
|
||||||
{"AllowGpuModelDownloadWithoutGpu", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
|
|
||||||
{"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
|
{"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
|
||||||
{"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
|
{"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
|
||||||
{"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
|
{"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
|
||||||
@@ -242,6 +238,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
|||||||
{"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
|
{"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
|
||||||
{"ConditionalChill", {PERSISTENT, BOOL, "0", "0", 1}},
|
{"ConditionalChill", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||||
{"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
|
{"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
|
||||||
|
{"HybridExpBias", {PERSISTENT, FLOAT, "0", "0", 1}},
|
||||||
|
{"HybridExperimental", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||||
|
{"HybridVisionBrakeSensitivity", {PERSISTENT, FLOAT, "1", "1", 1}},
|
||||||
|
{"HEMExpDominant", {CLEAR_ON_MANAGER_START, BOOL, "0", "0", 2}},
|
||||||
{"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
|
{"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
|
||||||
{"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
|
{"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
|
||||||
{"CurveSpeedControllerNoLead", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
|
{"CurveSpeedControllerNoLead", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
|
||||||
@@ -340,7 +340,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
|||||||
{"ForceStops", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
|
{"ForceStops", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
|
||||||
{"ForceStopDistanceOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
|
{"ForceStopDistanceOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
|
||||||
{"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
{"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
||||||
{"FordLKASButtonControlMigrated", {PERSISTENT, BOOL, "0", "0"}},
|
|
||||||
{"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
|
{"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||||
{"FordAngleBlend", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
|
{"FordAngleBlend", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
|
||||||
{"FordAngleHighSpeedDamping", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
|
{"FordAngleHighSpeedDamping", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
|
||||||
@@ -522,7 +521,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
|||||||
{"PIPPreviewMask", {PERSISTENT, JSON, "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", 2}},
|
{"PIPPreviewMask", {PERSISTENT, JSON, "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", 2}},
|
||||||
{"PIPPreviewShowOnBlinker", {PERSISTENT, BOOL, "0", "0", 1}},
|
{"PIPPreviewShowOnBlinker", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||||
{"PIPPreviewShowOnBSM", {PERSISTENT, BOOL, "0", "0", 1}},
|
{"PIPPreviewShowOnBSM", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||||
{"PIPPreviewInvert", {PERSISTENT, BOOL, "0", "0", 1}},
|
|
||||||
{"GalaxyPaired", {PERSISTENT, BOOL, "0", "0", 0}},
|
{"GalaxyPaired", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||||
{"GalaxyUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
|
{"GalaxyUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||||
{"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
|
{"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
|
||||||
@@ -555,6 +553,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
|||||||
{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||||
{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||||
{"RelaxedJerkSpeedDecrease", {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}},
|
{"RivianAngleControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
||||||
{"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
|
{"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
|
||||||
{"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
|
{"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
|
||||||
@@ -665,7 +664,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
|||||||
{"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
|
{"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
|
||||||
{"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
|
{"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
|
||||||
{"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
{"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
||||||
{"SubaruStopStartOff", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
|
||||||
{"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
|
{"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||||
{"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
{"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
|
||||||
{"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
|
{"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
|
||||||
@@ -700,7 +698,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
|||||||
{"UserFavorites", {PERSISTENT, STRING, "", "", 1}},
|
{"UserFavorites", {PERSISTENT, STRING, "", "", 1}},
|
||||||
{"UseVienna", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
|
{"UseVienna", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
|
||||||
{"VASMAnnotationConfig", {PERSISTENT, JSON, "{}", "{}", 2}},
|
{"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}},
|
{"VASMEnabled", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||||
{"VASMLeftActive", {CLEAR_ON_MANAGER_START, STRING, "0", "0", 2}},
|
{"VASMLeftActive", {CLEAR_ON_MANAGER_START, STRING, "0", "0", 2}},
|
||||||
{"VASMLeftConfidence", {CLEAR_ON_MANAGER_START, STRING, "0.0", "0.0", 2}},
|
{"VASMLeftConfidence", {CLEAR_ON_MANAGER_START, STRING, "0.0", "0.0", 2}},
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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.
|
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.
|
||||||
|
|
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# 452 Supported Cars
|
# 451 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|
|
|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|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||||
|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|ADX 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=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 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|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|Integra 2023-26|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=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 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 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 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 2022-24|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=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 2025|All except Type S|openpilot available[<sup>1</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 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 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|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 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 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|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|RDX 2022-26|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=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 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 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 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>|||
|
||||||
|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>|||
|
|Acura|TLX 2024-25|All|openpilot available[<sup>1</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 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>1,15</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|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>1,15</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|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>1,15</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|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|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 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=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|Q4 e-tron 2024-25|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 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|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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
|
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|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[<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 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>|||
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@@ -76,56 +76,55 @@ A supported vehicle is one that just works when you install a comma device. All
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|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 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>|||
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|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 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>||
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|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 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>|||
|
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|Chevrolet|Volt No-ACC 2016-18 (OBD-C / L&P Harness)|Redneck ACC|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II 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 2016-18 (OBD-C / L&P Harness)">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>|||
|
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|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 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>|||
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|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 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>|||
|
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|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 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>|||
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|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 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>|||
|
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|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>|||
|
|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>|||
|
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|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>||
|
|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>||
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|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|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>|||
|
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|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|Born 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=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
|
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|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>|||
|
|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>|||
|
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|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|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>|||
|
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|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|Edge 2022|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 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|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 2023-24|Co-Pilot360 Assist+|openpilot|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 Hybrid 2023-24|Co-Pilot360 Assist+|openpilot|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>|||
|
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|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|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot|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|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot|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 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 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 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 2021-23|Co-Pilot360 Assist 2.0|openpilot|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 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot|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|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|openpilot|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 2018-22[<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 2018-22">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|Focus Hybrid 2018-22[<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 2018-22">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 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 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|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 Hybrid 2024|All|openpilot|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|Kuga Plug-in Hybrid 2024|All|openpilot|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 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 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 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 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 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 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|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|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|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|openpilot|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|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|Mustang Mach-E 2021-24|All|openpilot|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|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot|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>|||
|
|Ford|Transit 2025|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 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 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>|||
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|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 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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
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|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|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>|||
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|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 (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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
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|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 (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>|||
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|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>|||
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|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>|||
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|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>|||
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|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>|||
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@@ -141,46 +140,46 @@ A supported vehicle is one that just works when you install a comma device. All
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|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>|||
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|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>|||
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|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>|||
|
|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>|||
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||||||
|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 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>|||
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||||||
|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 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>||
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|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 2023-25|All|openpilot available[<sup>1</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>|||
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|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>|||
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|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>|||
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|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 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>|||
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|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|Accord Hybrid 2023-25|All|openpilot available[<sup>1</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>|||
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|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>|||
|
|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>|||
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|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 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>||
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|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 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>||
|
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|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 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>||
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||||||
|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 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>1,5</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 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>1,5</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 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>||
|
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|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 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>1,5</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 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>1,5</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|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|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|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|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 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 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|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 2023-26|All|openpilot available[<sup>1</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 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|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|CR-V Hybrid 2023-25|All|openpilot available[<sup>1</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|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 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) 2021|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 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|Fit (Taiwan) 2024-25|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 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|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 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|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>1,5</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|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>1,5</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|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>1,5</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|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 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 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|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 (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 (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|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 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|openpilot available[<sup>1</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>|||
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|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 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>|||
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|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|Pilot 2023-25|All|openpilot available[<sup>1</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|Prelude 2026|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 Prelude 2026">Buy Here</a></sub></details>|||
|
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|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>|||
|
|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 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>|||
|
|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>|||
|
||||||
@@ -326,54 +325,54 @@ A supported vehicle is one that just works when you install a comma device. All
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|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 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|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>|||
|
|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 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 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>|||
|
|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>1,15</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|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>1,15</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>||
|
|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-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>||
|
|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>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>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>5</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>5</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>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>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>|||
|
|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|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>|||
|
|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 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>|
|
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|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|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 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>|||
|
|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|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>1,15</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>|||
|
|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>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 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 2023-25|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|Ascent 2023-25|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 2023-25">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 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>||
|
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|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 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>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|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>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 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>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|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>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 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>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|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>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 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|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|Legacy 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 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 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 2023-24|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|Outback 2023-24|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru 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 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>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>|||
|
|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|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 2021-23[<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 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|Enyaq 2024-25[<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 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|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>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|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>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|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>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|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>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 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>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 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>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|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>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|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>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>|||
|
|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>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>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>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>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>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>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>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>|||
|
|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 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|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>|||
|
|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 +385,8 @@ A supported vehicle is one that just works when you install a comma device. All
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|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 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 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|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 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>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 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 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|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>|||
|
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|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>|||
|
|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>|||
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@@ -419,53 +418,53 @@ 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 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>||
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|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|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>||
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|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>||
|
|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>||
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|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 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>||
|
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|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 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>||
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|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 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>||
|
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|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|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>||
|
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|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 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>|||
|
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|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|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>|||
|
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|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|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>|||
|
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|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|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>|||
|
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|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|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>||
|
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|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|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>1,15</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-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>1,15</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|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>1,15</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 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>1,15</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 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>1,15</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 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>1,15</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 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>1,15</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 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>|||
|
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|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 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>|||
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|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|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>|||
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|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>||
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|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>||
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|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 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 ID.3 2020-23">Buy Here</a></sub></details>|||
|
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|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.3 2024-25|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 ID.3 2024-25">Buy Here</a></sub></details>|||
|
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|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 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 ID.4 2021-23">Buy Here</a></sub></details>|||
|
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|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.4 2024-25|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 ID.4 2024-25">Buy Here</a></sub></details>|||
|
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|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|ID.5 2022-23|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 ID.5 2022-23">Buy Here</a></sub></details>|||
|
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|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 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>|||
|
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|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|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>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 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>1,15</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 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>1,15</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|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>1,15</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 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>1,15</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|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>1,15</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-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>1,15</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|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>1,15</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|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>1,15</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 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>1,15</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 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>1,15</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|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>1,15</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 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>1,15</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|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>1,15</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>|||
|
|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>|||
|
||||||
|
|
||||||
## StarPilot Community Cars
|
## StarPilot Community Cars
|
||||||
|
|
||||||
These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
|
These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
|
||||||
|
|
||||||
# 16 Community Cars
|
# 15 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|
|
|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|
|
||||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||||
@@ -481,7 +480,6 @@ These additional vehicle ports are maintained by StarPilot rather than upstream
|
|||||||
|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>|||
|
|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|||
|
|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|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|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|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>|||
|
|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>|||
|
||||||
@@ -491,18 +489,17 @@ These additional vehicle ports are maintained by StarPilot rather than upstream
|
|||||||
<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>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>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>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>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||||
<sup>6</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>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>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>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>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>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>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>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>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>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 />
|
||||||
<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 />
|
|
||||||
|
|
||||||
# Don't see your car here?
|
# Don't see your car here?
|
||||||
|
|
||||||
@@ -545,4 +542,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
|||||||
* Toyota Camry 2025+
|
* Toyota Camry 2025+
|
||||||
* Lexus NX 2022+
|
* Lexus NX 2022+
|
||||||
* Toyota bZ4x 2023+
|
* Toyota bZ4x 2023+
|
||||||
* Subaru Solterra 2023+
|
* Subaru Solterra 2023+
|
||||||
+1
-1
@@ -21,7 +21,7 @@ fi
|
|||||||
export QCOM_PRIORITY=12
|
export QCOM_PRIORITY=12
|
||||||
|
|
||||||
if [ -z "$AGNOS_VERSION" ]; then
|
if [ -z "$AGNOS_VERSION" ]; then
|
||||||
export AGNOS_VERSION="19.6.10"
|
export AGNOS_VERSION="19.6.2"
|
||||||
fi
|
fi
|
||||||
|
|
||||||
if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
|
if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
|
||||||
|
|||||||
Binary file not shown.
Binary file not shown.
@@ -85,7 +85,7 @@
|
|||||||
|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||||
|Chevrolet|Volt ASCM Harness 2017-18|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 Camera Harness 2017-18|Flashed camera-forward integration with ACC|[Upstream](#upstream)|
|
||||||
|Chevrolet|Volt No-ACC 2016-18 (OBD-C / L&P Harness)|Redneck ACC|[Upstream](#upstream)|
|
|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||||
|Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
|
|Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
|
||||||
@@ -578,4 +578,4 @@ Toyota, and the GM Global B platform.
|
|||||||
All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
|
All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
|
||||||
CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
|
CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
|
||||||
manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
|
manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
|
||||||
may one day be supported, but we have no immediate plans to support FlexRay.
|
may one day be supported, but we have no immediate plans to support FlexRay.
|
||||||
@@ -1,6 +1,5 @@
|
|||||||
import copy
|
import copy
|
||||||
from opendbc.can import CANPacker, CANParser
|
from opendbc.can import CANPacker, CANParser
|
||||||
from opendbc.car.honda.hondacan import honda_checksum
|
|
||||||
|
|
||||||
|
|
||||||
class TestCanChecksums:
|
class TestCanChecksums:
|
||||||
@@ -91,13 +90,6 @@ class TestCanChecksums:
|
|||||||
assert parser.vl['LKAS_HUD']['CHECKSUM'] == std
|
assert parser.vl['LKAS_HUD']['CHECKSUM'] == std
|
||||||
assert parser.vl['LKAS_HUD_A']['CHECKSUM'] == ext
|
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'):
|
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"""
|
"""Test AUTOSAR E2E Profile 2 CRCs"""
|
||||||
assert len(test_messages) == 16 # All counter values must be tested
|
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)
|
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.
|
Normalize ambiguous/mismatched Bolt candidates using robust PT message signatures.
|
||||||
This guards against occasional wrong variant selection causing persistent canError.
|
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
|
msg_304_len = pt.get(304) # 8 on 2017 Gen1, 1 on 2018-2021 Gen1
|
||||||
has_pedal = 513 in pt
|
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 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 candidate is None and 170 in pt and 188 in pt and msg_211_len in (2, 3):
|
||||||
if msg_211_len == 3:
|
if msg_211_len == 3:
|
||||||
return "CHEVROLET_BOLT_ACC_2022_2023_PEDAL" if has_pedal else "CHEVROLET_BOLT_ACC_2022_2023"
|
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,
|
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):
|
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, 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_gm_volt_candidate(candidate, fingerprints)
|
||||||
candidate = _normalize_forced_candidate(candidate)
|
candidate = _normalize_forced_candidate(candidate)
|
||||||
fingerprinted_candidate = candidate
|
fingerprinted_candidate = candidate
|
||||||
|
|||||||
@@ -264,7 +264,6 @@ MIGRATION = {
|
|||||||
"GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
|
"GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
|
||||||
"GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
|
"GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
|
||||||
"GENESIS GV70 ELECTRIFIED 2026": HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_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 G80 2017": HYUNDAI.GENESIS_G80,
|
||||||
"GENESIS G90 2017": HYUNDAI.GENESIS_G90,
|
"GENESIS G90 2017": HYUNDAI.GENESIS_G90,
|
||||||
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
|
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
|
||||||
|
|||||||
@@ -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.common.conversions import Conversions as CV
|
||||||
from opendbc.car.ford.fordcan import CanBus
|
from opendbc.car.ford.fordcan import CanBus
|
||||||
from opendbc.car.ford.values import DBC, CarControllerParams, FordFlags
|
from opendbc.car.ford.values import DBC, CarControllerParams, FordFlags
|
||||||
from opendbc.car.gps import get_car_gps_config
|
|
||||||
from opendbc.car.interfaces import CarStateBase
|
from opendbc.car.interfaces import CarStateBase
|
||||||
|
|
||||||
ButtonType = structs.CarState.ButtonEvent.Type
|
ButtonType = structs.CarState.ButtonEvent.Type
|
||||||
@@ -28,40 +27,12 @@ class CarState(CarStateBase):
|
|||||||
self.lc_button = 0
|
self.lc_button = 0
|
||||||
self.lkas_available = False
|
self.lkas_available = False
|
||||||
self.lateral_motion_control = None
|
self.lateral_motion_control = None
|
||||||
self.lateral_control_status = None
|
|
||||||
self.steering_angle_offset_deg = 0.0
|
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:
|
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
|
||||||
cp = can_parsers[Bus.pt]
|
cp = can_parsers[Bus.pt]
|
||||||
cp_cam = can_parsers[Bus.cam]
|
cp_cam = can_parsers[Bus.cam]
|
||||||
|
|
||||||
self._update_car_gps(cp)
|
|
||||||
|
|
||||||
ret = structs.CarState()
|
ret = structs.CarState()
|
||||||
|
|
||||||
if self.CP.flags & FordFlags.ALT_STEER_ANGLE:
|
if self.CP.flags & FordFlags.ALT_STEER_ANGLE:
|
||||||
@@ -110,8 +81,7 @@ class CarState(CarStateBase):
|
|||||||
|
|
||||||
if self.CP.flags & FordFlags.CANFD:
|
if self.CP.flags & FordFlags.CANFD:
|
||||||
# this signal is always 0 on non-CAN FD cars
|
# 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 |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
|
||||||
ret.steerFaultTemporary |= self.lateral_control_status not in (1, 2, 3)
|
|
||||||
|
|
||||||
# cruise state
|
# cruise state
|
||||||
is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else \
|
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
|
@staticmethod
|
||||||
def get_can_parsers(CP):
|
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 {
|
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),
|
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -5,10 +5,9 @@ from types import SimpleNamespace
|
|||||||
from hypothesis import settings, given, strategies as st
|
from hypothesis import settings, given, strategies as st
|
||||||
from parameterized import parameterized
|
from parameterized import parameterized
|
||||||
|
|
||||||
from opendbc.car import Bus, gen_empty_fingerprint
|
from opendbc.car import gen_empty_fingerprint
|
||||||
from opendbc.can import CANPacker
|
from opendbc.can import CANPacker
|
||||||
from opendbc.car.ford import fordcan
|
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.structs import CarParams
|
||||||
from opendbc.car.fw_versions import build_fw_dict
|
from opendbc.car.fw_versions import build_fw_dict
|
||||||
from opendbc.car.ford.interface import CarInterface
|
from opendbc.car.ford.interface import CarInterface
|
||||||
@@ -178,102 +177,6 @@ def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
|
|||||||
assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL
|
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():
|
def test_hands_free_cluster_status_is_opt_in():
|
||||||
packer = CANPacker("ford_lincoln_base_pt")
|
packer = CANPacker("ford_lincoln_base_pt")
|
||||||
CAN = SimpleNamespace(main=0)
|
CAN = SimpleNamespace(main=0)
|
||||||
|
|||||||
@@ -30,20 +30,20 @@ FINGERPRINTS = {
|
|||||||
CAR.BUICK_LACROSSE: [{
|
CAR.BUICK_LACROSSE: [{
|
||||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||||
}],
|
}],
|
||||||
CAR.CHEVROLET_VOLT_CC: [
|
# CAR.CHEVROLET_VOLT_CC: [
|
||||||
# Captured no-ACC Volt fingerprints for OBD-C/L&P harness installations
|
# FIXME: Need a message to distinguish flashed from non-flashed
|
||||||
# Volt Premier w/o ACC 2016
|
# Volt Premier w/o acc 2016
|
||||||
{
|
# {
|
||||||
170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
|
# 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
|
||||||
},
|
# },
|
||||||
{
|
# {
|
||||||
201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
|
# 201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
|
||||||
},
|
# },
|
||||||
# Volt Premier w/o ACC 2018 + Pedal
|
# # Volt Premier w/o ACC 2018 + Pedal
|
||||||
{
|
# {
|
||||||
189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
|
# 189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
|
||||||
}
|
# }
|
||||||
],
|
# ],
|
||||||
CAR.BUICK_REGAL: [{
|
CAR.BUICK_REGAL: [{
|
||||||
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
|
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
|
||||||
}],
|
}],
|
||||||
@@ -207,6 +207,7 @@ FINGERPRINTS = {
|
|||||||
FINGERPRINTS.update({
|
FINGERPRINTS.update({
|
||||||
CAR.CHEVROLET_VOLT_ASCM: FINGERPRINTS[CAR.CHEVROLET_VOLT],
|
CAR.CHEVROLET_VOLT_ASCM: FINGERPRINTS[CAR.CHEVROLET_VOLT],
|
||||||
CAR.CHEVROLET_VOLT_CAMERA: [{**fp, CAMERA_DIAGNOSTIC_ADDRESS: 8, CAMERA_DIAGNOSTIC_RX_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CHEVROLET_VOLT]],
|
CAR.CHEVROLET_VOLT_CAMERA: [{**fp, CAMERA_DIAGNOSTIC_ADDRESS: 8, CAMERA_DIAGNOSTIC_RX_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CHEVROLET_VOLT]],
|
||||||
|
CAR.CHEVROLET_VOLT_CC: FINGERPRINTS[CAR.CHEVROLET_VOLT],
|
||||||
CAR.GMC_ACADIA_ASCM: FINGERPRINTS[CAR.GMC_ACADIA],
|
CAR.GMC_ACADIA_ASCM: FINGERPRINTS[CAR.GMC_ACADIA],
|
||||||
CAR.CHEVROLET_MALIBU_ASCM: FINGERPRINTS[CAR.CHEVROLET_MALIBU],
|
CAR.CHEVROLET_MALIBU_ASCM: FINGERPRINTS[CAR.CHEVROLET_MALIBU],
|
||||||
CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
|
CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
|
||||||
|
|||||||
@@ -1,4 +1,4 @@
|
|||||||
from opendbc.car import DT_CTRL, structs
|
from opendbc.car import DT_CTRL
|
||||||
from opendbc.car.can_definitions import CanData
|
from opendbc.car.can_definitions import CanData
|
||||||
from opendbc.car.common.conversions import Conversions as CV
|
from opendbc.car.common.conversions import Conversions as CV
|
||||||
from opendbc.car.gm.values import CAR, CanBus, CruiseButtons, GMFlags
|
from opendbc.car.gm.values import CAR, CanBus, CruiseButtons, GMFlags
|
||||||
@@ -420,11 +420,9 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
|
|||||||
idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
|
idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
|
||||||
msgs = [create_buttons(packer, CanBus.POWERTRAIN, idx, cruise_btn)]
|
msgs = [create_buttons(packer, CanBus.POWERTRAIN, idx, cruise_btn)]
|
||||||
|
|
||||||
# A camera-forward Volt CC install needs the button spoof on both sides.
|
# Flashed camera-forward Volt CC installs also need the button spoof on the
|
||||||
# The OBD-C/L&P gateway variant has no camera bus and remains PT-only.
|
# camera side. Removed-camera installs set NO_CAMERA and keep this PT-only.
|
||||||
if (CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and
|
if CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and not (CS.CP.flags & GMFlags.NO_CAMERA.value):
|
||||||
getattr(CS.CP, "networkLocation", None) == structs.CarParams.NetworkLocation.fwdCamera and
|
|
||||||
not (CS.CP.flags & GMFlags.NO_CAMERA.value)):
|
|
||||||
msgs.append(create_buttons(packer, CanBus.CAMERA, idx, cruise_btn))
|
msgs.append(create_buttons(packer, CanBus.CAMERA, idx, cruise_btn))
|
||||||
return msgs
|
return msgs
|
||||||
else:
|
else:
|
||||||
|
|||||||
@@ -273,6 +273,7 @@ class CarInterface(CarInterfaceBase):
|
|||||||
|
|
||||||
kaofui_camera_cars = {
|
kaofui_camera_cars = {
|
||||||
CAR.CHEVROLET_VOLT_CAMERA,
|
CAR.CHEVROLET_VOLT_CAMERA,
|
||||||
|
CAR.CHEVROLET_VOLT_CC,
|
||||||
CAR.CHEVROLET_MALIBU_HYBRID_CC,
|
CAR.CHEVROLET_MALIBU_HYBRID_CC,
|
||||||
}
|
}
|
||||||
bolt_cc_camera_cars = {
|
bolt_cc_camera_cars = {
|
||||||
@@ -684,8 +685,6 @@ class CarInterface(CarInterfaceBase):
|
|||||||
|
|
||||||
if candidate in CC_ONLY_CAR:
|
if candidate in CC_ONLY_CAR:
|
||||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_ACC.value
|
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_ACC.value
|
||||||
if candidate == CAR.CHEVROLET_VOLT_CC and ret.networkLocation == NetworkLocation.gateway:
|
|
||||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY.value
|
|
||||||
|
|
||||||
if candidate in SDGM_CAR and ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
if candidate in SDGM_CAR and ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
||||||
ret.flags |= GMFlags.FORCE_BRAKE_C9.value
|
ret.flags |= GMFlags.FORCE_BRAKE_C9.value
|
||||||
@@ -699,7 +698,7 @@ class CarInterface(CarInterfaceBase):
|
|||||||
|
|
||||||
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
||||||
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
|
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
|
||||||
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC) and ret.networkLocation == NetworkLocation.gateway:
|
if candidate == CAR.CHEVROLET_VOLT and ret.networkLocation == NetworkLocation.gateway:
|
||||||
# Reuse the no-camera safety bit as an ASCM Volt selector for the alternate EBCM brake path.
|
# Reuse the no-camera safety bit as an ASCM Volt selector for the alternate EBCM brake path.
|
||||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value
|
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value
|
||||||
|
|
||||||
|
|||||||
@@ -201,45 +201,6 @@ class TestGMInterface:
|
|||||||
assert car_params.flags & GMFlags.NO_CAMERA.value
|
assert car_params.flags & GMFlags.NO_CAMERA.value
|
||||||
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
|
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
|
||||||
|
|
||||||
def test_volt_cc_obd_gateway_uses_cc_long_no_camera_path(self):
|
|
||||||
CarInterface = interfaces[CAR.CHEVROLET_VOLT_CC]
|
|
||||||
car_params = CarInterface.get_params(
|
|
||||||
CAR.CHEVROLET_VOLT_CC,
|
|
||||||
_empty_fingerprint(),
|
|
||||||
[],
|
|
||||||
alpha_long=False,
|
|
||||||
is_release=False,
|
|
||||||
docs=False,
|
|
||||||
starpilot_toggles=_test_starpilot_toggles(),
|
|
||||||
)
|
|
||||||
|
|
||||||
assert car_params.networkLocation == structs.CarParams.NetworkLocation.gateway
|
|
||||||
assert car_params.flags & GMFlags.CC_LONG.value
|
|
||||||
assert car_params.flags & GMFlags.NO_CAMERA.value
|
|
||||||
assert not (car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM.value)
|
|
||||||
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_CC_LONG.value
|
|
||||||
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_ACC.value
|
|
||||||
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
|
|
||||||
|
|
||||||
parsers = CarInterface.CarState.get_can_parsers(car_params)
|
|
||||||
assert "ECMCruiseControl" in parsers[Bus.pt].vl
|
|
||||||
assert not parsers[Bus.cam].vl
|
|
||||||
|
|
||||||
def test_other_cc_only_gateway_does_not_use_volt_cc_safety_path(self):
|
|
||||||
CarInterface = interfaces[CAR.CHEVROLET_SILVERADO_CC]
|
|
||||||
car_params = CarInterface.get_params(
|
|
||||||
CAR.CHEVROLET_SILVERADO_CC,
|
|
||||||
_empty_fingerprint(),
|
|
||||||
[],
|
|
||||||
alpha_long=False,
|
|
||||||
is_release=False,
|
|
||||||
docs=False,
|
|
||||||
starpilot_toggles=_test_starpilot_toggles(),
|
|
||||||
)
|
|
||||||
|
|
||||||
assert car_params.networkLocation == structs.CarParams.NetworkLocation.gateway
|
|
||||||
assert not (car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY.value)
|
|
||||||
|
|
||||||
def test_volt_ascm_sparse_fingerprint_without_camera_does_not_set_no_camera(self):
|
def test_volt_ascm_sparse_fingerprint_without_camera_does_not_set_no_camera(self):
|
||||||
CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
|
CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
|
||||||
fingerprint = {
|
fingerprint = {
|
||||||
@@ -572,7 +533,6 @@ class TestGMCarController:
|
|||||||
CP=SimpleNamespace(
|
CP=SimpleNamespace(
|
||||||
carFingerprint=CAR.CHEVROLET_VOLT_CC,
|
carFingerprint=CAR.CHEVROLET_VOLT_CC,
|
||||||
flags=0,
|
flags=0,
|
||||||
networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
|
|
||||||
minEnableSpeed=24 * CV.MPH_TO_MS,
|
minEnableSpeed=24 * CV.MPH_TO_MS,
|
||||||
),
|
),
|
||||||
buttons_counter=2,
|
buttons_counter=2,
|
||||||
@@ -594,7 +554,6 @@ class TestGMCarController:
|
|||||||
CP=SimpleNamespace(
|
CP=SimpleNamespace(
|
||||||
carFingerprint=CAR.CHEVROLET_VOLT_CC,
|
carFingerprint=CAR.CHEVROLET_VOLT_CC,
|
||||||
flags=GMFlags.NO_CAMERA.value,
|
flags=GMFlags.NO_CAMERA.value,
|
||||||
networkLocation=structs.CarParams.NetworkLocation.gateway,
|
|
||||||
minEnableSpeed=24 * CV.MPH_TO_MS,
|
minEnableSpeed=24 * CV.MPH_TO_MS,
|
||||||
),
|
),
|
||||||
buttons_counter=2,
|
buttons_counter=2,
|
||||||
|
|||||||
@@ -175,7 +175,6 @@ class GMSafetyFlags(IntFlag):
|
|||||||
FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
|
FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
|
||||||
FLAG_GM_PANDA_3D1_SCHED = 16384
|
FLAG_GM_PANDA_3D1_SCHED = 16384
|
||||||
FLAG_GM_PANDA_PADDLE_SCHED = 32768
|
FLAG_GM_PANDA_PADDLE_SCHED = 32768
|
||||||
FLAG_GM_VOLT_CC_GATEWAY = 16384
|
|
||||||
|
|
||||||
|
|
||||||
class Footnote(Enum):
|
class Footnote(Enum):
|
||||||
@@ -248,7 +247,7 @@ class CAR(Platforms):
|
|||||||
dbc_dict=CHEVROLET_VOLT.dbc_dict,
|
dbc_dict=CHEVROLET_VOLT.dbc_dict,
|
||||||
)
|
)
|
||||||
CHEVROLET_VOLT_CC = GMPlatformConfig(
|
CHEVROLET_VOLT_CC = GMPlatformConfig(
|
||||||
[GMCarDocs("Chevrolet Volt No-ACC 2016-18 (OBD-C / L&P Harness)", "Redneck ACC", min_enable_speed=0)],
|
[GMCarDocs("Chevrolet Volt No-ACC 2017-18", min_enable_speed=0)],
|
||||||
CHEVROLET_VOLT.specs,
|
CHEVROLET_VOLT.specs,
|
||||||
dbc_dict=CHEVROLET_VOLT.dbc_dict,
|
dbc_dict=CHEVROLET_VOLT.dbc_dict,
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -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 (
|
from opendbc.car.honda.values import (
|
||||||
CAR,
|
CAR,
|
||||||
CruiseButtons,
|
CruiseButtons,
|
||||||
CruiseSettings,
|
|
||||||
HONDA_BOSCH,
|
HONDA_BOSCH,
|
||||||
HONDA_BOSCH_CANFD,
|
HONDA_BOSCH_CANFD,
|
||||||
HONDA_BOSCH_RADARLESS,
|
HONDA_BOSCH_RADARLESS,
|
||||||
@@ -17,7 +16,6 @@ from opendbc.car.honda.values import (
|
|||||||
HondaFlags,
|
HondaFlags,
|
||||||
)
|
)
|
||||||
from opendbc.car.interfaces import CarControllerBase
|
from opendbc.car.interfaces import CarControllerBase
|
||||||
from opendbc.car.common.pid import PIDController
|
|
||||||
from openpilot.common.params import Params
|
from openpilot.common.params import Params
|
||||||
|
|
||||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||||
@@ -213,14 +211,6 @@ class CarController(CarControllerBase):
|
|||||||
self.CAN = hondacan.CanBus(CP)
|
self.CAN = hondacan.CanBus(CP)
|
||||||
self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
|
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.braking = False
|
||||||
self.brake_steady = 0.0
|
self.brake_steady = 0.0
|
||||||
self.brake_last = 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_gas_factor_before_gasmax = self.bosch_gas_factor
|
||||||
self.bosch_wind_factor_before_gasmax = self.bosch_wind_factor
|
self.bosch_wind_factor_before_gasmax = self.bosch_wind_factor
|
||||||
self.pitch = 0.0
|
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:
|
def _modified_civic_standard_active(self) -> bool:
|
||||||
return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(self.CP.flags & HondaFlags.EPS_MODIFIED)
|
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
|
hud_v_cruise = hud_control.setSpeed / CS.v_cruise_factor if hud_control.speedVisible else 255
|
||||||
pcm_cancel_cmd = CC.cruiseControl.cancel
|
pcm_cancel_cmd = CC.cruiseControl.cancel
|
||||||
gas_interceptor_command = 0.0
|
gas_interceptor_command = 0.0
|
||||||
min_gas = self.params.BOSCH_GAS_LOOKUP_BP[0]
|
|
||||||
if len(CC.orientationNED) == 3:
|
if len(CC.orientationNED) == 3:
|
||||||
self.pitch = CC.orientationNED[1]
|
self.pitch = CC.orientationNED[1]
|
||||||
hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
|
hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
|
||||||
@@ -323,56 +308,11 @@ class CarController(CarControllerBase):
|
|||||||
# Send CAN commands
|
# Send CAN commands
|
||||||
can_sends = []
|
can_sends = []
|
||||||
|
|
||||||
# Bosch radar ownership. On CAN-FD, leave the stock radar active until the comma relay is open,
|
# tester present - w/ no response (keeps radar disabled)
|
||||||
# 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.
|
|
||||||
if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
|
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 self.frame % 10 == 0:
|
||||||
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:
|
|
||||||
can_sends.append(make_tester_present_msg(0x18DAB0F1, self.CAN.pt, suppress_response=True))
|
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.
|
# Send steering command.
|
||||||
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))
|
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
|
ts = self.frame * DT_CTRL
|
||||||
|
|
||||||
if self.CP.carFingerprint in HONDA_BOSCH:
|
if self.CP.carFingerprint in HONDA_BOSCH:
|
||||||
if self.mvl_accord_mode and (accel < min_gas) and (1e-3 < CS.out.vEgo < 3.0):
|
self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
|
||||||
brake_addon = self.mvl_brake_pid.update(error=accel - CS.out.aEgo, speed=CS.out.vEgo)
|
gas_pedal_force = self.accel + hill_brake
|
||||||
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
|
|
||||||
|
|
||||||
if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
|
if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
|
||||||
gas_pedal_force += wind_brake_mps2 * self.bosch_wind_factor
|
gas_pedal_force += wind_brake_mps2 * self.bosch_wind_factor
|
||||||
|
|
||||||
if actuators.longControlState == LongCtrlState.pid and not CS.out.gasPressed:
|
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:
|
if self.CP.carFingerprint == CAR.HONDA_INSIGHT:
|
||||||
gas_learn_speed = 150.0
|
gas_learn_speed = 150.0
|
||||||
elif self.CP.carFingerprint in (CAR.ACURA_RDX_3G, CAR.ACURA_RDX_3G_MMR):
|
elif self.CP.carFingerprint in (CAR.ACURA_RDX_3G, CAR.ACURA_RDX_3G_MMR):
|
||||||
gas_learn_speed = 300.0
|
gas_learn_speed = 300.0
|
||||||
else:
|
else:
|
||||||
gas_learn_speed = 50.0
|
gas_learn_speed = 50.0
|
||||||
gas_factor_floor = 0.01 if self.mvl_accord_mode else 0.1
|
self.bosch_gas_factor = float(np.clip(self.bosch_gas_factor + gas_error / gas_learn_speed * gas_pedal_force, 0.1, 3.0))
|
||||||
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,
|
|
||||||
))
|
|
||||||
|
|
||||||
if gas_error != 0.0 and not CS.out.brakePressed and CS.out.vEgo > 0.0:
|
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
|
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:
|
else:
|
||||||
self.bosch_wind_factor = float(np.clip(self.bosch_wind_factor / wind_adjust, 0.1, 3.0))
|
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 <= 0.0:
|
||||||
if gas_pedal_force <= wind_brake_threshold:
|
|
||||||
self.bosch_wind_factor = max(self.bosch_wind_factor, self.bosch_wind_factor_before_brake)
|
self.bosch_wind_factor = max(self.bosch_wind_factor, self.bosch_wind_factor_before_brake)
|
||||||
else:
|
else:
|
||||||
self.bosch_wind_factor_before_brake = self.bosch_wind_factor
|
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_gas_factor_before_gasmax = self.bosch_gas_factor
|
||||||
self.bosch_wind_factor_before_gasmax = self.bosch_wind_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 \
|
self.gas = float(np.interp(gas_pedal_force * self.bosch_gas_factor, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
|
||||||
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 = min(self.gas, max(60.0, self.bosch_last_gas + 60.0))
|
self.gas = min(self.gas, max(60.0, self.bosch_last_gas + 60.0))
|
||||||
self.bosch_last_gas = self.gas
|
self.bosch_last_gas = self.gas
|
||||||
|
|
||||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||||
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
|
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
|
||||||
if not self.mvl_accord_mode or mvl_radar_owned:
|
can_sends.extend(
|
||||||
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)
|
||||||
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,
|
|
||||||
)
|
|
||||||
)
|
|
||||||
else:
|
else:
|
||||||
apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
|
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))
|
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
|
idx = (self.frame // 2) % 0x10
|
||||||
can_sends.append(create_gas_interceptor_command(self.packer, gas_interceptor_command, idx))
|
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
|
# Send dashboard UI commands.
|
||||||
# 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)
|
|
||||||
)
|
|
||||||
|
|
||||||
if self.frame % 10 == 0:
|
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
|
# On Nidec, this also controls longitudinal positive acceleration
|
||||||
can_sends.append(
|
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)
|
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:
|
if self.CP.openpilotLongitudinalControl:
|
||||||
# TODO: combining with create_acc_hud block above will change message order and will need replay logs regenerated
|
# 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))
|
can_sends.append(hondacan.create_radar_hud(self.packer, self.CAN.pt))
|
||||||
if self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
|
if self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
|
||||||
can_sends.append(hondacan.create_legacy_brake_command(self.packer, self.CAN.pt))
|
can_sends.append(hondacan.create_legacy_brake_command(self.packer, self.CAN.pt))
|
||||||
@@ -557,29 +469,6 @@ class CarController(CarControllerBase):
|
|||||||
else:
|
else:
|
||||||
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
|
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:
|
if self.frame > 0 and self.frame % 6000 == 0:
|
||||||
self.param_store.put_float("HondaGasFactorParams", self.bosch_gas_factor)
|
self.param_store.put_float("HondaGasFactorParams", self.bosch_gas_factor)
|
||||||
self.param_store.put_float("HondaWindFactorParams", self.bosch_wind_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 = False
|
||||||
self.initial_accFault_cleared_timer = int(10 / DT_CTRL)
|
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:
|
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
|
||||||
cp = can_parsers[Bus.pt]
|
cp = can_parsers[Bus.pt]
|
||||||
cp_cam = can_parsers[Bus.cam]
|
cp_cam = can_parsers[Bus.cam]
|
||||||
if self.CP.enableBsm:
|
if self.CP.enableBsm:
|
||||||
cp_body = can_parsers[Bus.body]
|
cp_body = can_parsers[Bus.body]
|
||||||
if self.CP.carFingerprint == CAR.HONDA_ACCORD_11G:
|
|
||||||
cp_radar = can_parsers[Bus.radar]
|
|
||||||
|
|
||||||
ret = structs.CarState()
|
ret = structs.CarState()
|
||||||
|
|
||||||
@@ -107,10 +85,6 @@ class CarState(CarStateBase):
|
|||||||
prev_cruise_setting = self.cruise_setting
|
prev_cruise_setting = self.cruise_setting
|
||||||
self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
|
self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
|
||||||
self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
|
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
|
# used for car hud message
|
||||||
self.is_metric = self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_TWN,) or not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
|
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"]]
|
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",
|
ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TJA_LOW_SPEED_LOCKOUT",
|
||||||
"TMP_FAULT")
|
"TMP_FAULT")
|
||||||
if self.CP.carFingerprint in (HONDA_BOSCH_ALT_RADAR | {CAR.HONDA_ACCORD_11G}):
|
if self.CP.carFingerprint in HONDA_BOSCH_ALT_RADAR:
|
||||||
# MVL treats CAN-FD low-speed lockout as an expected EPS state too.
|
# TODO: See if this logic works for all other Honda
|
||||||
min_steer_speed = max(CarControllerParams.STEER_GLOBAL_MIN_SPEED, self.CP.minSteerSpeed)
|
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
|
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
|
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):
|
if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
|
||||||
self.lkas_hud = cp_cam.vl["LKAS_HUD"]
|
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:
|
if self.CP.enableBsm:
|
||||||
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
|
# 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
|
# more info here: https://github.com/commaai/openpilot/pull/1867
|
||||||
@@ -354,10 +271,6 @@ class CarState(CarStateBase):
|
|||||||
|
|
||||||
def get_can_parsers(self, CP):
|
def get_can_parsers(self, CP):
|
||||||
pt_messages = [("GAS_SENSOR", 0)] if CP.enableGasInterceptorDEPRECATED else []
|
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)
|
pt_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt)
|
||||||
if CP.enableGasInterceptorDEPRECATED:
|
if CP.enableGasInterceptorDEPRECATED:
|
||||||
pt_parser.message_states[0x201].ignore_checksum = True
|
pt_parser.message_states[0x201].ignore_checksum = True
|
||||||
@@ -369,11 +282,5 @@ class CarState(CarStateBase):
|
|||||||
}
|
}
|
||||||
if CP.enableBsm:
|
if CP.enableBsm:
|
||||||
parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], [], CanBus(CP).radar)
|
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
|
return parsers
|
||||||
|
|||||||
@@ -1039,8 +1039,6 @@ FW_VERSIONS = {
|
|||||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||||
b'8S102-30A-A050\x00\x00',
|
b'8S102-30A-A050\x00\x00',
|
||||||
b'8S102-30A-A060\x00\x00',
|
b'8S102-30A-A060\x00\x00',
|
||||||
b'8S102-30A-A070\x00\x00',
|
|
||||||
b'8S102-30A-A080\x00\x00',
|
|
||||||
],
|
],
|
||||||
},
|
},
|
||||||
CAR.HONDA_CRV_6G: {
|
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.common.conversions import Conversions as CV
|
||||||
from opendbc.car.honda.values import (HondaFlags, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_RADARLESS,
|
from opendbc.car.honda.values import (HondaFlags, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_RADARLESS,
|
||||||
HONDA_BOSCH_CANFD, CarControllerParams)
|
HONDA_BOSCH_CANFD, CarControllerParams)
|
||||||
from opendbc.car.honda.values import CAR
|
|
||||||
|
|
||||||
# CAN bus layout with relay
|
# CAN bus layout with relay
|
||||||
# 0 = ACC-CAN - radar side
|
# 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)
|
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 = []
|
commands = []
|
||||||
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
|
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
|
||||||
|
|
||||||
control_on = 5 if enabled else 0
|
control_on = 5 if enabled else 0
|
||||||
if gas_force is None:
|
gas_command = gas if active and accel > min_gas_accel else -30000
|
||||||
gas_force = accel
|
|
||||||
gas_command = gas if active and gas_force > min_gas_accel else -30000
|
|
||||||
accel_command = accel if active else 0
|
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 = 1 if active and stopping_counter > 0 else 0
|
||||||
standstill_release = 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,
|
'STANDSTILL': standstill,
|
||||||
}
|
}
|
||||||
|
|
||||||
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
|
if car_fingerprint in HONDA_BOSCH_RADARLESS:
|
||||||
acc_control_values.update({
|
acc_control_values.update({
|
||||||
"CONTROL_ON": enabled,
|
"CONTROL_ON": enabled,
|
||||||
"IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz)
|
"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,
|
'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:
|
if CP.carFingerprint in HONDA_BOSCH:
|
||||||
acc_hud_values['ACC_ON'] = int(enabled)
|
acc_hud_values['ACC_ON'] = int(enabled)
|
||||||
# Preserve StarPilot's existing Bosch HUD behavior outside CAN-FD. MVL's CAN-FD
|
acc_hud_values['FCM_OFF'] = 1
|
||||||
# replacement radar expects FCW/CMBS enabled, while legacy Bosch keeps them off.
|
acc_hud_values['FCM_OFF_2'] = 1
|
||||||
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
|
|
||||||
else:
|
else:
|
||||||
# Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
|
# Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
|
||||||
acc_hud_values['ACC_ON'] = int(enabled)
|
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, {})
|
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 = {
|
values = {
|
||||||
'CRUISE_BUTTONS': button_val,
|
'CRUISE_BUTTONS': button_val,
|
||||||
'CRUISE_SETTING': cruise_setting,
|
'CRUISE_SETTING': 0,
|
||||||
}
|
}
|
||||||
# Existing StarPilot callers should retain their previous payload; only the CAN-FD camera
|
# send buttons to camera on radarless (camera does ACC) cars
|
||||||
# takeover path explicitly echoes the live ambient-light byte.
|
bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
|
||||||
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
|
|
||||||
return packer.make_can_msg("SCM_BUTTONS", bus, values)
|
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:
|
def honda_checksum(address: int, sig, d: bytearray) -> int:
|
||||||
s = 0
|
s = 0
|
||||||
extended = address > 0x7FF
|
extended = address > 0x7FF
|
||||||
@@ -344,5 +243,5 @@ def honda_checksum(address: int, sig, d: bytearray) -> int:
|
|||||||
s += (x & 0xF) + (x >> 4)
|
s += (x & 0xF) + (x >> 4)
|
||||||
s = 8 - s
|
s = 8 - s
|
||||||
if extended:
|
if extended:
|
||||||
s += 10 if address in HONDA_CANFD_MVL_CHECKSUM_IDS else 3
|
s += 3
|
||||||
return s & 0xF
|
return s & 0xF
|
||||||
|
|||||||
@@ -1,11 +1,10 @@
|
|||||||
#!/usr/bin/env python3
|
#!/usr/bin/env python3
|
||||||
import numpy as np
|
import numpy as np
|
||||||
from openpilot.common.params import Params, UnknownKeyName
|
|
||||||
from opendbc.car import get_safety_config, structs, uds
|
from opendbc.car import get_safety_config, structs, uds
|
||||||
from opendbc.car.common.conversions import Conversions as CV
|
from opendbc.car.common.conversions import Conversions as CV
|
||||||
from opendbc.car.disable_ecu import disable_ecu
|
from opendbc.car.disable_ecu import disable_ecu
|
||||||
from opendbc.car.honda.hondacan import CanBus
|
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
|
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
|
||||||
from opendbc.car.honda.carcontroller import CarController
|
from opendbc.car.honda.carcontroller import CarController
|
||||||
from opendbc.car.honda.carstate import CarState
|
from opendbc.car.honda.carstate import CarState
|
||||||
@@ -45,17 +44,7 @@ class CarInterface(CarInterfaceBase):
|
|||||||
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
|
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
|
||||||
ret.safetyConfigs = cfgs
|
ret.safetyConfigs = cfgs
|
||||||
|
|
||||||
# HONDA_BOSCH_A describes the physical harness family. Radar remains unavailable until the
|
ret.radarUnavailable = True
|
||||||
# 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)
|
|
||||||
# Disable the radar and let openpilot control longitudinal
|
# Disable the radar and let openpilot control longitudinal
|
||||||
# WARNING: THIS DISABLES AEB!
|
# WARNING: THIS DISABLES AEB!
|
||||||
# If Bosch radarless, this blocks ACC messages from the camera
|
# 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]
|
CarControllerParams.BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]
|
||||||
|
|
||||||
elif candidate == CAR.HONDA_ACCORD_11G:
|
elif candidate == CAR.HONDA_ACCORD_11G:
|
||||||
# MVL Boston sp-honda-dev-202608 tuning (48211d6a63).
|
ret.steerActuatorDelay = 0.22
|
||||||
ret.longitudinalActuatorDelay = 0.05
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 5200], [0, 2560, 12747]]
|
||||||
ret.steerActuatorDelay = 0.3
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||||
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]
|
|
||||||
|
|
||||||
elif candidate == CAR.ACURA_ILX:
|
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
|
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
|
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
|
||||||
if candidate in HONDA_BOSCH_CANFD:
|
if candidate in HONDA_BOSCH_CANFD:
|
||||||
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value
|
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
|
# 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
|
# 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
|
@staticmethod
|
||||||
def init(CP, can_recv, can_send, communication_control=None):
|
def init(CP, can_recv, can_send, communication_control=None):
|
||||||
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
|
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
|
# 0x80 silences response
|
||||||
if communication_control is None:
|
if communication_control is None:
|
||||||
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
|
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
|
||||||
|
|||||||
@@ -1,13 +1,8 @@
|
|||||||
#!/usr/bin/env python3
|
#!/usr/bin/env python3
|
||||||
import math
|
|
||||||
from collections import deque
|
|
||||||
from dataclasses import dataclass, field
|
|
||||||
|
|
||||||
from opendbc.can import CANParser
|
from opendbc.can import CANParser
|
||||||
from opendbc.car import Bus, structs
|
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.interfaces import RadarInterfaceBase
|
||||||
|
from opendbc.car.honda.values import DBC
|
||||||
|
|
||||||
|
|
||||||
def _create_nidec_can_parser(car_fingerprint):
|
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)
|
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):
|
class RadarInterface(RadarInterfaceBase):
|
||||||
def __init__(self, CP):
|
def __init__(self, CP):
|
||||||
super().__init__(CP)
|
super().__init__(CP)
|
||||||
|
self.track_id = 0
|
||||||
|
self.radar_fault = False
|
||||||
|
self.radar_wrong_config = False
|
||||||
self.radar_off_can = CP.radarUnavailable
|
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:
|
if self.radar_off_can:
|
||||||
self.rcp = None
|
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:
|
else:
|
||||||
# Nidec
|
|
||||||
self.rcp = _create_nidec_can_parser(CP.carFingerprint)
|
self.rcp = _create_nidec_can_parser(CP.carFingerprint)
|
||||||
self.trigger_msg = 0x445
|
self.trigger_msg = 0x445
|
||||||
self.track_id = 0
|
|
||||||
self.radar_fault = False
|
|
||||||
self.radar_wrong_config = False
|
|
||||||
|
|
||||||
self.updated_messages = set()
|
self.updated_messages = set()
|
||||||
|
|
||||||
def update(self, can_strings):
|
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)
|
return super().update(None)
|
||||||
|
|
||||||
vls = self.rcp.update(can_strings)
|
vls = self.rcp.update(can_strings)
|
||||||
self.updated_messages.update(vls)
|
self.updated_messages.update(vls)
|
||||||
|
|
||||||
if self.trigger_msg not in self.updated_messages:
|
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
|
return None
|
||||||
|
|
||||||
rr = self._update(self.updated_messages)
|
rr = self._update(self.updated_messages)
|
||||||
self.updated_messages.clear()
|
self.updated_messages.clear()
|
||||||
return rr
|
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):
|
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()
|
ret = structs.RadarData()
|
||||||
|
|
||||||
for ii in sorted(updated_messages):
|
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
|
from types import SimpleNamespace
|
||||||
import pytest
|
import pytest
|
||||||
|
|
||||||
from opendbc.car import Bus, structs
|
from opendbc.car import structs
|
||||||
from opendbc.car.structs import CarParams
|
from opendbc.car.structs import CarParams
|
||||||
from opendbc.car import gen_empty_fingerprint
|
from opendbc.car import gen_empty_fingerprint
|
||||||
from opendbc.car.honda.interface import CarInterface
|
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_CANFD
|
||||||
assert CP.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_LONG
|
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):
|
def test_nidec_pedal_detection_enables_interceptor_path(self):
|
||||||
toggles = get_test_toggles()
|
toggles = get_test_toggles()
|
||||||
fingerprint = gen_empty_fingerprint()
|
fingerprint = gen_empty_fingerprint()
|
||||||
|
|||||||
@@ -57,9 +57,6 @@ class HondaSafetyFlags(IntFlag):
|
|||||||
RADARLESS = 8
|
RADARLESS = 8
|
||||||
BOSCH_CANFD = 16
|
BOSCH_CANFD = 16
|
||||||
GAS_INTERCEPTOR = 32
|
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):
|
class HondaFlags(IntFlag):
|
||||||
@@ -120,17 +117,11 @@ class HondaCarDocs(CarDocs):
|
|||||||
|
|
||||||
self.car_parts = CarParts.common([harness])
|
self.car_parts = CarParts.common([harness])
|
||||||
|
|
||||||
if CP.alphaLongitudinalAvailable:
|
|
||||||
self.footnotes.append(Footnote.EXP_LONG)
|
|
||||||
|
|
||||||
|
|
||||||
class Footnote(Enum):
|
class Footnote(Enum):
|
||||||
CIVIC_DIESEL = CarFootnote(
|
CIVIC_DIESEL = CarFootnote(
|
||||||
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
|
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
|
||||||
Column.FSR_STEERING)
|
Column.FSR_STEERING)
|
||||||
EXP_LONG = CarFootnote(
|
|
||||||
"Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW.",
|
|
||||||
Column.LONGITUDINAL)
|
|
||||||
|
|
||||||
|
|
||||||
@dataclass
|
@dataclass
|
||||||
@@ -171,12 +162,7 @@ class CAR(Platforms):
|
|||||||
HondaCarDocs("Honda N-Box 2018", "All", min_steer_speed=5.),
|
HondaCarDocs("Honda N-Box 2018", "All", min_steer_speed=5.),
|
||||||
],
|
],
|
||||||
CarSpecs(mass=890., wheelbase=2.520, steerRatio=18.64),
|
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).
|
{Bus.pt: 'acura_rdx_2020_can_generated'},
|
||||||
# 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'},
|
|
||||||
)
|
)
|
||||||
HONDA_ACCORD = HondaBoschPlatformConfig(
|
HONDA_ACCORD = HondaBoschPlatformConfig(
|
||||||
[
|
[
|
||||||
@@ -186,21 +172,15 @@ class CAR(Platforms):
|
|||||||
],
|
],
|
||||||
# steerRatio: 11.82 is spec end-to-end
|
# 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),
|
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).
|
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||||
# 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'},
|
|
||||||
flags=HondaFlags.ALLOW_MANUAL_TRANS,
|
flags=HondaFlags.ALLOW_MANUAL_TRANS,
|
||||||
)
|
)
|
||||||
HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
|
HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
|
||||||
[
|
[
|
||||||
HondaCarDocs("Honda Accord 2023-25", "All"),
|
HondaCarDocs("Honda Accord 2023-25", "All"),
|
||||||
HondaCarDocs("Honda Accord Hybrid 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),
|
CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.0, centerToFrontRatio=0.39),
|
||||||
{Bus.pt: 'honda_common_canfd_generated', Bus.radar: 'honda_common_canfd_generated'},
|
|
||||||
)
|
)
|
||||||
HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
|
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),
|
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
|
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).
|
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||||
# 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'},
|
|
||||||
)
|
)
|
||||||
HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
|
HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
|
||||||
[], # don't show in docs
|
[], # don't show in docs
|
||||||
HONDA_CIVIC_BOSCH.specs,
|
HONDA_CIVIC_BOSCH.specs,
|
||||||
# Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
|
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||||
# 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'},
|
|
||||||
)
|
)
|
||||||
HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
|
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)],
|
[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=15. * CV.MPH_TO_MS)],
|
||||||
# steerRatio: 12.3 is spec end-to-end
|
# 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),
|
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).
|
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated'},
|
||||||
# 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'},
|
|
||||||
flags=HondaFlags.BOSCH_ALT_BRAKE,
|
flags=HondaFlags.BOSCH_ALT_BRAKE,
|
||||||
)
|
)
|
||||||
HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
|
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)],
|
[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
|
# 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),
|
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).
|
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||||
# 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'},
|
|
||||||
)
|
)
|
||||||
HONDA_HRV_3G = HondaBoschPlatformConfig(
|
HONDA_HRV_3G = HondaBoschPlatformConfig(
|
||||||
[HondaCarDocs("Honda HR-V 2023-25", "All")],
|
[HondaCarDocs("Honda HR-V 2023-25", "All")],
|
||||||
@@ -285,12 +245,7 @@ class CAR(Platforms):
|
|||||||
ACURA_RDX_3G = HondaBoschPlatformConfig(
|
ACURA_RDX_3G = HondaBoschPlatformConfig(
|
||||||
[HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
[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
|
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).
|
{Bus.pt: 'acura_rdx_2020_can_generated'},
|
||||||
# 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'},
|
|
||||||
flags=HondaFlags.BOSCH_ALT_BRAKE,
|
flags=HondaFlags.BOSCH_ALT_BRAKE,
|
||||||
)
|
)
|
||||||
ACURA_RDX_3G_MMR = HondaBoschPlatformConfig(
|
ACURA_RDX_3G_MMR = HondaBoschPlatformConfig(
|
||||||
@@ -302,32 +257,17 @@ class CAR(Platforms):
|
|||||||
HONDA_INSIGHT = HondaBoschPlatformConfig(
|
HONDA_INSIGHT = HondaBoschPlatformConfig(
|
||||||
[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
[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
|
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).
|
{Bus.pt: 'honda_insight_ex_2019_can_generated'},
|
||||||
# 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'},
|
|
||||||
)
|
)
|
||||||
HONDA_E = HondaBoschPlatformConfig(
|
HONDA_E = HondaBoschPlatformConfig(
|
||||||
[HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
[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),
|
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).
|
{Bus.pt: 'acura_rdx_2020_can_generated'},
|
||||||
# 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'},
|
|
||||||
)
|
)
|
||||||
HONDA_E_ADVANCE = HondaBoschPlatformConfig(
|
HONDA_E_ADVANCE = HondaBoschPlatformConfig(
|
||||||
[], # don't show in docs, base trim already in docs
|
[], # 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),
|
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).
|
{Bus.pt: 'honda_e_advance_2020_can_generated'},
|
||||||
# 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'},
|
|
||||||
)
|
)
|
||||||
HONDA_PILOT_4G = HondaBoschCANFDPlatformConfig(
|
HONDA_PILOT_4G = HondaBoschCANFDPlatformConfig(
|
||||||
[HondaCarDocs("Honda Pilot 2023-25", "All")],
|
[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_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
|
||||||
HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
|
HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
|
||||||
HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
|
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_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
|
||||||
HONDA_CAMERA_MESSAGE_CARS = {
|
HONDA_CAMERA_MESSAGE_CARS = {
|
||||||
CAR.HONDA_ACCORD,
|
CAR.HONDA_ACCORD,
|
||||||
|
|||||||
@@ -9,7 +9,7 @@ from opendbc.car.common.conversions import Conversions as CV
|
|||||||
from opendbc.car.hyundai import hyundaicanfd, hyundaican
|
from opendbc.car.hyundai import hyundaicanfd, hyundaican
|
||||||
from opendbc.car.hyundai.hyundaicanfd import CanBus
|
from opendbc.car.hyundai.hyundaicanfd import CanBus
|
||||||
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
|
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, \
|
CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning, \
|
||||||
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
|
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
|
||||||
from opendbc.car.interfaces import CarControllerBase
|
from opendbc.car.interfaces import CarControllerBase
|
||||||
from opendbc.car.vehicle_model import VehicleModel
|
from opendbc.car.vehicle_model import VehicleModel
|
||||||
@@ -180,13 +180,6 @@ def should_use_ev6_gt_line_stop_direct_tracking(ev6_gt_line: bool, stopping: boo
|
|||||||
return bool(ev6_gt_line and stopping and v_ego > EV6_GT_LINE_STOP_BRAKE_CAP_MAX_SPEED and accel_cmd < actual_accel)
|
return bool(ev6_gt_line and stopping and v_ego > EV6_GT_LINE_STOP_BRAKE_CAP_MAX_SPEED and accel_cmd < actual_accel)
|
||||||
|
|
||||||
|
|
||||||
def apply_carnival_steering_override(car_fingerprint, steering_pressed: bool,
|
|
||||||
apply_steer_req: bool, apply_torque: int) -> tuple[bool, int]:
|
|
||||||
if car_fingerprint == CAR.KIA_CARNIVAL_2025 and steering_pressed:
|
|
||||||
return False, 0
|
|
||||||
return apply_steer_req, apply_torque
|
|
||||||
|
|
||||||
|
|
||||||
def update_ev9_longitudinal_tuning(state: EV9LongitudinalTuningState, enabled: bool,
|
def update_ev9_longitudinal_tuning(state: EV9LongitudinalTuningState, enabled: bool,
|
||||||
stopping: bool, v_ego: float) -> EV9LongitudinalTuningState:
|
stopping: bool, v_ego: float) -> EV9LongitudinalTuningState:
|
||||||
if not enabled:
|
if not enabled:
|
||||||
@@ -620,10 +613,6 @@ class CarController(CarControllerBase):
|
|||||||
if not CC.latActive:
|
if not CC.latActive:
|
||||||
apply_torque = 0
|
apply_torque = 0
|
||||||
|
|
||||||
apply_steer_req, apply_torque = apply_carnival_steering_override(
|
|
||||||
self.CP.carFingerprint, CS.out.steeringPressed, apply_steer_req, apply_torque,
|
|
||||||
)
|
|
||||||
|
|
||||||
# Hold torque with induced temporary fault when cutting the actuation bit
|
# Hold torque with induced temporary fault when cutting the actuation bit
|
||||||
# FIXME: we don't use this with CAN FD?
|
# FIXME: we don't use this with CAN FD?
|
||||||
torque_fault = CC.latActive and not apply_steer_req
|
torque_fault = CC.latActive and not apply_steer_req
|
||||||
@@ -800,7 +789,6 @@ class CarController(CarControllerBase):
|
|||||||
# TODO: unclear if this is needed
|
# TODO: unclear if this is needed
|
||||||
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
|
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
|
||||||
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
|
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:
|
if blended_hda2:
|
||||||
stopping = stopping and CS.out.vEgoRaw < 0.1
|
stopping = stopping and CS.out.vEgoRaw < 0.1
|
||||||
can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended_hda2(
|
can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended_hda2(
|
||||||
@@ -816,8 +804,7 @@ class CarController(CarControllerBase):
|
|||||||
else:
|
else:
|
||||||
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
|
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
|
||||||
hud_control, set_speed_in_units, stopping,
|
hud_control, set_speed_in_units, stopping,
|
||||||
CC.cruiseControl.override, use_fca, self.CP,
|
CC.cruiseControl.override, use_fca, self.CP))
|
||||||
main_cruise_enabled))
|
|
||||||
|
|
||||||
# 20 Hz LFA MFA message
|
# 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 or (self.long_active_ecu and blended_hda2)):
|
||||||
@@ -879,7 +866,14 @@ class CarController(CarControllerBase):
|
|||||||
steering_msg_active, apply_torque, apply_angle,
|
steering_msg_active, apply_torque, apply_angle,
|
||||||
CS.stock_lfa_msg if preserve_stock_lfa_status else None,
|
CS.stock_lfa_msg if preserve_stock_lfa_status else None,
|
||||||
CS.stock_lkas_msg if preserve_stock_lkas 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
|
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,
|
inactive_steering_angle = float(np.clip(CS.angle_steering_angle,
|
||||||
-self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
|
-self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
|
||||||
@@ -1053,13 +1047,9 @@ class CarController(CarControllerBase):
|
|||||||
|
|
||||||
# cruise standstill resume
|
# cruise standstill resume
|
||||||
elif CC.cruiseControl.resume:
|
elif CC.cruiseControl.resume:
|
||||||
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and self.CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
|
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
|
||||||
for _ in range(20):
|
# TODO: resume for alt button cars
|
||||||
can_sends.append(hyundaicanfd.create_buttons(
|
pass
|
||||||
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
|
|
||||||
else:
|
else:
|
||||||
for _ in range(20):
|
for _ in range(20):
|
||||||
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.RES_ACCEL))
|
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.hyundaicanfd import CanBus
|
||||||
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
|
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
|
||||||
CANFD_ANGLE_LONGITUDINAL_CAR, CANFD_CORNER_RADAR_BSM_CAR, \
|
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
|
hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS, ALT_BUS_LDA_BUTTON_SWL_STAT_CARS
|
||||||
from opendbc.car.interfaces import CarStateBase
|
from opendbc.car.interfaces import CarStateBase
|
||||||
|
|
||||||
@@ -133,7 +132,6 @@ class CarState(CarStateBase):
|
|||||||
self.is_metric = False
|
self.is_metric = False
|
||||||
self.buttons_counter = 0
|
self.buttons_counter = 0
|
||||||
self.main_cruise_on = False
|
self.main_cruise_on = False
|
||||||
self.main_cruise_tracking = bool(getattr(FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
|
|
||||||
|
|
||||||
self.cruise_info = {}
|
self.cruise_info = {}
|
||||||
self.msg_161 = {}
|
self.msg_161 = {}
|
||||||
@@ -560,9 +558,7 @@ class CarState(CarStateBase):
|
|||||||
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
|
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.lda_button = cp.vl[self.cruise_btns_msg_canfd]["LDA_BTN"]
|
||||||
self.left_paddle = 0
|
self.left_paddle = 0
|
||||||
if self.CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
|
if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
|
||||||
self.cruise_buttons_msg = copy.copy(cp.vl[self.cruise_btns_msg_canfd])
|
|
||||||
elif self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
|
|
||||||
self.cruise_buttons_msg = copy.copy(cp.vl["CRUISE_BUTTONS"])
|
self.cruise_buttons_msg = copy.copy(cp.vl["CRUISE_BUTTONS"])
|
||||||
self.left_paddle = cp.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"]
|
self.left_paddle = cp.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"]
|
||||||
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
|
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
|
||||||
@@ -595,7 +591,7 @@ class CarState(CarStateBase):
|
|||||||
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
|
*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.lda_button, prev_lda_button, {1: ButtonType.lkas}),
|
||||||
*create_button_events(self.left_paddle, prev_left_paddle, {1: ButtonType.altButton2})]
|
*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.cruiseState.available = self.update_main_cruise(ret)
|
||||||
|
|
||||||
ret.blockPcmEnable = not self.recent_button_interaction()
|
ret.blockPcmEnable = not self.recent_button_interaction()
|
||||||
@@ -622,9 +618,7 @@ class CarState(CarStateBase):
|
|||||||
def get_can_parsers_canfd(self, CP):
|
def get_can_parsers_canfd(self, CP):
|
||||||
msgs = []
|
msgs = []
|
||||||
cam_msgs = []
|
cam_msgs = []
|
||||||
if CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
|
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
|
||||||
msgs.append(("CRUISE_BUTTONS_ALT", 50))
|
|
||||||
elif not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
|
|
||||||
# The EV9 can stop publishing this during the non-ECU-disabled startup
|
# The EV9 can stop publishing this during the non-ECU-disabled startup
|
||||||
# state. Keep decoding it when present without making CAN invalid.
|
# state. Keep decoding it when present without making CAN invalid.
|
||||||
msgs += [
|
msgs += [
|
||||||
|
|||||||
@@ -1402,14 +1402,6 @@ FW_VERSIONS = {
|
|||||||
b'\xf1\x00JK__ RDR ----- 1.00 1.01 99110-DS500 ',
|
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: {
|
CAR.GENESIS_GV80_2025: {
|
||||||
(Ecu.fwdRadar, 0x7d0, None): [
|
(Ecu.fwdRadar, 0x7d0, None): [
|
||||||
b'\xf1\x00JX__ RDR ----- 1.00 1.03 99110-T6500 ',
|
b'\xf1\x00JX__ RDR ----- 1.00 1.03 99110-T6500 ',
|
||||||
|
|||||||
@@ -284,12 +284,11 @@ def create_acc_commands_can_canfd_blended_hda2(packer, enabled, accel, accel_las
|
|||||||
return commands
|
return commands
|
||||||
|
|
||||||
|
|
||||||
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP,
|
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
|
||||||
main_cruise_enabled=True):
|
|
||||||
commands = []
|
commands = []
|
||||||
|
|
||||||
scc11_values = {
|
scc11_values = {
|
||||||
"MainMode_ACC": int(bool(main_cruise_enabled)),
|
"MainMode_ACC": 1,
|
||||||
"TauGapSet": hud_control.leadDistanceBars,
|
"TauGapSet": hud_control.leadDistanceBars,
|
||||||
"VSetDis": set_speed if enabled else 0,
|
"VSetDis": set_speed if enabled else 0,
|
||||||
"AliveCounterACC": idx % 0x10,
|
"AliveCounterACC": idx % 0x10,
|
||||||
|
|||||||
@@ -3,7 +3,7 @@ import numpy as np
|
|||||||
from opendbc.car import CanBusBase, CanData
|
from opendbc.car import CanBusBase, CanData
|
||||||
from opendbc.car.common.conversions import Conversions as CV
|
from opendbc.car.common.conversions import Conversions as CV
|
||||||
from opendbc.car.crc import CRC16_XMODEM
|
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:
|
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,
|
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:
|
if lka_icon is None:
|
||||||
lka_icon = 2 if enabled else 1
|
lka_icon = 2 if enabled else 1
|
||||||
|
|
||||||
if CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
if CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||||
ret = []
|
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))
|
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))
|
ret.append(_create_gv70_lka_status_msg(packer, CAN, "LKAS", CAN.ACAN, enabled, lat_active, apply_torque))
|
||||||
return ret
|
return ret
|
||||||
|
|
||||||
@@ -255,8 +258,10 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
|
|||||||
ret = []
|
ret = []
|
||||||
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||||
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
|
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 and not CP.flags & HyundaiFlags.CAN_CANFD_BLENDED) or send_lfa_status:
|
||||||
ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
|
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))
|
ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
|
||||||
else:
|
else:
|
||||||
if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
|
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):
|
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({
|
values.update({
|
||||||
"COUNTER": cnt,
|
"COUNTER": cnt,
|
||||||
"SET_ME_1": 1,
|
"SET_ME_1": 1,
|
||||||
"CRUISE_BUTTONS": btn,
|
"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
|
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)
|
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -31,7 +31,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
|
|||||||
# Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
|
# Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
|
||||||
ECU_DISABLE_TIMESTAMP = 0.0
|
ECU_DISABLE_TIMESTAMP = 0.0
|
||||||
KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
|
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:
|
def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
|
||||||
|
|||||||
@@ -20,13 +20,12 @@ from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalT
|
|||||||
should_track_stop_accel_directly_for_car, \
|
should_track_stop_accel_directly_for_car, \
|
||||||
preserve_stock_canfd_lfa_status, \
|
preserve_stock_canfd_lfa_status, \
|
||||||
preserve_stock_canfd_lkas_status, \
|
preserve_stock_canfd_lkas_status, \
|
||||||
apply_carnival_steering_override, \
|
|
||||||
suppress_redundant_gv70_brake_cancel
|
suppress_redundant_gv70_brake_cancel
|
||||||
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
|
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
|
||||||
get_canfd_cruise_available
|
get_canfd_cruise_available
|
||||||
from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
|
from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
|
||||||
from opendbc.car.hyundai import hyundaican, hyundaicanfd
|
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, \
|
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
|
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, \
|
from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, DATELESS_FUZZY_CARS, \
|
||||||
@@ -118,7 +117,6 @@ ANGLE_STEERING_CARS = (
|
|||||||
CAR.KIA_EV6_2025,
|
CAR.KIA_EV6_2025,
|
||||||
CAR.KIA_EV9,
|
CAR.KIA_EV9,
|
||||||
CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
|
CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
|
||||||
CAR.GENESIS_GV70_2026,
|
|
||||||
CAR.GENESIS_GV80_2025,
|
CAR.GENESIS_GV80_2025,
|
||||||
)
|
)
|
||||||
|
|
||||||
@@ -209,12 +207,6 @@ class TestHyundaiFingerprint:
|
|||||||
assert parser.vl["LKAS_ALT"]["TORQUE_REQUEST"] == 123
|
assert parser.vl["LKAS_ALT"]["TORQUE_REQUEST"] == 123
|
||||||
assert parser.vl["LKAS_ALT"]["STEER_REQ"] == 1
|
assert parser.vl["LKAS_ALT"]["STEER_REQ"] == 1
|
||||||
|
|
||||||
def test_carnival_steering_override_is_scoped_to_2025_platform(self):
|
|
||||||
assert apply_carnival_steering_override(CAR.KIA_CARNIVAL_2025, True, True, 123) == (False, 0)
|
|
||||||
assert apply_carnival_steering_override(CAR.KIA_CARNIVAL_2025, False, True, 123) == (True, 123)
|
|
||||||
assert apply_carnival_steering_override(CAR.KIA_CARNIVAL_HEV_4TH_GEN, True, True, 123) == (True, 123)
|
|
||||||
assert apply_carnival_steering_override(CAR.HYUNDAI_IONIQ_6, True, True, 123) == (True, 123)
|
|
||||||
|
|
||||||
def test_canfd_torque_bsm_parser_registers_rear_blindspots(self):
|
def test_canfd_torque_bsm_parser_registers_rear_blindspots(self):
|
||||||
CP = CarParams.new_message()
|
CP = CarParams.new_message()
|
||||||
CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
|
CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
|
||||||
@@ -530,27 +522,6 @@ class TestHyundaiFingerprint:
|
|||||||
k4_cp = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], False, False, False, None)
|
k4_cp = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], False, False, False, None)
|
||||||
assert not (k4_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
|
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):
|
def test_ioniq_6_hda1_layout_stays_non_lka(self):
|
||||||
fingerprint = gen_empty_fingerprint()
|
fingerprint = gen_empty_fingerprint()
|
||||||
fingerprint[1] = {0x100: 8, 0x110: 8}
|
fingerprint[1] = {0x100: 8, 0x110: 8}
|
||||||
@@ -735,18 +706,14 @@ class TestHyundaiFingerprint:
|
|||||||
assert combined_safety_param & HyundaiSafetyFlags.LONG
|
assert combined_safety_param & HyundaiSafetyFlags.LONG
|
||||||
assert combined_safety_param & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
|
assert combined_safety_param & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
|
||||||
|
|
||||||
@pytest.mark.parametrize("candidate, tracks_main_cruise", (
|
@pytest.mark.parametrize("candidate", (CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_SONATA_HYBRID))
|
||||||
(CAR.HYUNDAI_ELANTRA_2021, False),
|
def test_legacy_hyundai_long_does_not_gate_availability_on_main_cruise(self, candidate):
|
||||||
(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()
|
toggles = get_test_toggles()
|
||||||
CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, toggles)
|
CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||||
FPCP = CarInterface.get_starpilot_params(
|
FPCP = CarInterface.get_starpilot_params(
|
||||||
candidate, gen_empty_fingerprint(), [], CP, toggles,
|
candidate, gen_empty_fingerprint(), [], CP, toggles,
|
||||||
)
|
)
|
||||||
assert bool(FPCP.flags & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING) is tracks_main_cruise
|
assert not (FPCP.flags & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
|
||||||
|
|
||||||
ioniq_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
ioniq_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||||
ioniq_fpcp = CarInterface.get_starpilot_params(
|
ioniq_fpcp = CarInterface.get_starpilot_params(
|
||||||
@@ -1247,28 +1214,6 @@ class TestHyundaiFingerprint:
|
|||||||
assert exact
|
assert exact
|
||||||
assert matches == {CAR.KIA_CARNIVAL_2025}
|
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):
|
def test_kona_non_scc_fca_radar_fw_is_optional(self):
|
||||||
fw_versions = FW_VERSIONS[CAR.HYUNDAI_KONA_NON_SCC]
|
fw_versions = FW_VERSIONS[CAR.HYUNDAI_KONA_NON_SCC]
|
||||||
car_fw = [
|
car_fw = [
|
||||||
@@ -1683,7 +1628,6 @@ class TestHyundaiFingerprint:
|
|||||||
assert CP.startAccel == pytest.approx(0.2)
|
assert CP.startAccel == pytest.approx(0.2)
|
||||||
assert CP.vEgoStarting == pytest.approx(0.5)
|
assert CP.vEgoStarting == pytest.approx(0.5)
|
||||||
assert CP.longitudinalActuatorDelay == pytest.approx(0.3)
|
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)
|
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)
|
ioniq_6_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||||
@@ -2508,22 +2452,6 @@ class TestHyundaiFingerprint:
|
|||||||
assert parser.vl["SCC14"]["ComfortBandLower"] == pytest.approx(0.0)
|
assert parser.vl["SCC14"]["ComfortBandLower"] == pytest.approx(0.0)
|
||||||
assert parser.vl["SCC14"]["JerkLowerLimit"] == pytest.approx(5.0)
|
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):
|
def test_can_acc_commands_use_enabled_fca_status(self):
|
||||||
CP = CarParams.new_message()
|
CP = CarParams.new_message()
|
||||||
CP.carFingerprint = CAR.GENESIS_G90
|
CP.carFingerprint = CAR.GENESIS_G90
|
||||||
@@ -2742,47 +2670,26 @@ class TestHyundaiFingerprint:
|
|||||||
("LKAS", can_bus.ACAN),
|
("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 = CarParams.new_message()
|
||||||
CP.carFingerprint = CAR.KIA_EV9
|
CP.carFingerprint = CAR.KIA_EV9
|
||||||
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CCNC |
|
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CCNC |
|
||||||
HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CANFD_LKA_STEERING |
|
HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CANFD_LKA_STEERING |
|
||||||
HyundaiFlags.CANFD_LKA_STEERING_ALT)
|
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
|
CP.openpilotLongitudinalControl = False
|
||||||
|
|
||||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||||
can_bus = CanBus(CP)
|
can_bus = CanBus(CP)
|
||||||
cc = SimpleNamespace(
|
msgs = hyundaicanfd.create_steering_messages(
|
||||||
enabled=True,
|
packer, CP, can_bus, True, True, 0.44, -31.5, send_lfa_status=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 = 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] == [
|
assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
|
||||||
|
("LFA", can_bus.ECAN),
|
||||||
("LKAS_ALT", can_bus.ACAN),
|
("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 = CarParams.new_message()
|
||||||
CP.carFingerprint = CAR.KIA_EV9
|
CP.carFingerprint = CAR.KIA_EV9
|
||||||
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CCNC |
|
CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CCNC |
|
||||||
@@ -2790,31 +2697,15 @@ class TestHyundaiFingerprint:
|
|||||||
HyundaiFlags.CANFD_LKA_STEERING_ALT)
|
HyundaiFlags.CANFD_LKA_STEERING_ALT)
|
||||||
CP.openpilotLongitudinalControl = False
|
CP.openpilotLongitudinalControl = False
|
||||||
|
|
||||||
controller = CarController(DBC[CP.carFingerprint], CP)
|
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||||
controller.ecu_disable_failed = True
|
can_bus = CanBus(CP)
|
||||||
cc = SimpleNamespace(
|
msgs = hyundaicanfd.create_steering_messages(
|
||||||
enabled=False,
|
packer, CP, can_bus, True, False, 0.0, 0.0, send_lfa_status=True, lfa_only=True,
|
||||||
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,
|
|
||||||
),
|
|
||||||
)
|
)
|
||||||
|
|
||||||
msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
|
assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
|
||||||
cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
|
("LFA", can_bus.ECAN),
|
||||||
|
]
|
||||||
assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
|
|
||||||
|
|
||||||
def test_kia_ev6_lkas_helper_preserves_stock_camera_fields_with_stock_long(self):
|
def test_kia_ev6_lkas_helper_preserves_stock_camera_fields_with_stock_long(self):
|
||||||
CP = CarParams.new_message()
|
CP = CarParams.new_message()
|
||||||
|
|||||||
@@ -872,16 +872,6 @@ class CAR(Platforms):
|
|||||||
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
|
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
|
||||||
radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
|
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(
|
GENESIS_G80 = HyundaiPlatformConfig(
|
||||||
[HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
|
[HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
|
||||||
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
|
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
|
||||||
@@ -1090,7 +1080,7 @@ 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)
|
# 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,
|
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_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
|
# 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
|
# TODO: use abs, it has the platform code and part number on many platforms
|
||||||
@@ -1193,7 +1183,6 @@ 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_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_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_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
|
||||||
CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
|
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,
|
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,
|
||||||
|
|||||||
@@ -257,10 +257,6 @@ class CarInterfaceBase(ABC):
|
|||||||
if getattr(starpilot_toggles, "always_on_lateral_lkas", False):
|
if getattr(starpilot_toggles, "always_on_lateral_lkas", False):
|
||||||
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
||||||
|
|
||||||
if candidate == HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and \
|
|
||||||
getattr(starpilot_toggles, "always_on_lateral_main", False):
|
|
||||||
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
|
||||||
|
|
||||||
# LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
|
# LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
|
||||||
if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
|
if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
|
||||||
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
||||||
|
|||||||
@@ -30,10 +30,6 @@ _ANGLE_RECLAIM_FRAMES = 36
|
|||||||
_ANGLE_RECLAIM_EXPONENT = 2.5
|
_ANGLE_RECLAIM_EXPONENT = 2.5
|
||||||
_ANGLE_MADS_MIN_SPEED = 0.44704
|
_ANGLE_MADS_MIN_SPEED = 0.44704
|
||||||
_ANGLE_MADS_MAX_STEER_ANGLE = 120.0
|
_ANGLE_MADS_MAX_STEER_ANGLE = 120.0
|
||||||
_STOP_START_STARTUP_DELAY_FRAMES = 100
|
|
||||||
_STOP_START_STARTUP_DEADLINE_FRAMES = 300
|
|
||||||
_STOP_START_PULSE_FRAMES = 30
|
|
||||||
_STOP_START_PULSE_PERIOD_FRAMES = 5
|
|
||||||
|
|
||||||
|
|
||||||
def get_safety_CP():
|
def get_safety_CP():
|
||||||
@@ -77,66 +73,6 @@ class CarController(CarControllerBase):
|
|||||||
self.prev_close_distance = 0
|
self.prev_close_distance = 0
|
||||||
self.epb_resume_frames_remaining = -1
|
self.epb_resume_frames_remaining = -1
|
||||||
self.last_standstill_frame = 0
|
self.last_standstill_frame = 0
|
||||||
self.stop_start_attempted = False
|
|
||||||
self.stop_start_request_started = False
|
|
||||||
self.stop_start_request_frame = 0
|
|
||||||
self.stop_start_initial_state = None
|
|
||||||
self.stop_start_counter = 0
|
|
||||||
self.stop_start_acknowledged = False
|
|
||||||
|
|
||||||
def _stop_start_off_request(self, CC, CS, starpilot_toggles):
|
|
||||||
"""Send one bounded Outback Stop/Start OFF request after ignition.
|
|
||||||
|
|
||||||
This is intentionally opt-in and limited to a stationary vehicle in
|
|
||||||
Park/Neutral. A single ignition session gets at most one attempt.
|
|
||||||
"""
|
|
||||||
if self.CP.carFingerprint != CAR.SUBARU_OUTBACK_2023 or \
|
|
||||||
not getattr(starpilot_toggles, "subaru_stop_start_off", False) or self.stop_start_attempted:
|
|
||||||
return None
|
|
||||||
|
|
||||||
if self.frame > _STOP_START_STARTUP_DEADLINE_FRAMES or getattr(CC, "enabled", False):
|
|
||||||
self.stop_start_attempted = True
|
|
||||||
return None
|
|
||||||
|
|
||||||
if self.frame < _STOP_START_STARTUP_DELAY_FRAMES or not getattr(getattr(CS, "out", None), "canValid", True):
|
|
||||||
return None
|
|
||||||
|
|
||||||
out = CS.out
|
|
||||||
if not getattr(out, "standstill", False) or out.gearShifter not in (
|
|
||||||
structs.CarState.GearShifter.park,
|
|
||||||
structs.CarState.GearShifter.neutral,
|
|
||||||
):
|
|
||||||
return None
|
|
||||||
|
|
||||||
dashlights_msg = getattr(CS, "dashlights_msg", None)
|
|
||||||
if not dashlights_msg:
|
|
||||||
return None
|
|
||||||
|
|
||||||
if not self.stop_start_request_started:
|
|
||||||
self.stop_start_request_started = True
|
|
||||||
self.stop_start_request_frame = self.frame
|
|
||||||
self.stop_start_initial_state = getattr(CS, "stop_start_state", None)
|
|
||||||
self.stop_start_counter = (int(dashlights_msg.get("COUNTER", 0)) + 1) % 0x10
|
|
||||||
|
|
||||||
current_state = getattr(CS, "stop_start_state", None)
|
|
||||||
if self.stop_start_initial_state is not None and self.stop_start_initial_state != 3 and current_state == 3:
|
|
||||||
self.stop_start_attempted = True
|
|
||||||
self.stop_start_acknowledged = True
|
|
||||||
return None
|
|
||||||
|
|
||||||
elapsed = self.frame - self.stop_start_request_frame
|
|
||||||
if elapsed >= _STOP_START_PULSE_FRAMES:
|
|
||||||
self.stop_start_attempted = True
|
|
||||||
return None
|
|
||||||
|
|
||||||
if elapsed % _STOP_START_PULSE_PERIOD_FRAMES != 0:
|
|
||||||
return None
|
|
||||||
|
|
||||||
msg = subarucan.create_stop_start_control(
|
|
||||||
self.packer, dashlights_msg, counter=self.stop_start_counter, bus=self.main_bus,
|
|
||||||
)
|
|
||||||
self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
|
|
||||||
return msg
|
|
||||||
|
|
||||||
def _reset_legacy_2025_handoff(self):
|
def _reset_legacy_2025_handoff(self):
|
||||||
self.legacy_2025_handoff_active = False
|
self.legacy_2025_handoff_active = False
|
||||||
@@ -151,7 +87,7 @@ class CarController(CarControllerBase):
|
|||||||
self._reset_legacy_2025_handoff()
|
self._reset_legacy_2025_handoff()
|
||||||
return False
|
return False
|
||||||
|
|
||||||
if getattr(CS.out, "steeringPressed", False):
|
if CS.out.steeringPressed:
|
||||||
self.legacy_2025_handoff_active = True
|
self.legacy_2025_handoff_active = True
|
||||||
self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
|
self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
|
||||||
self.legacy_2025_reengage_settle_frames = 0
|
self.legacy_2025_reengage_settle_frames = 0
|
||||||
@@ -160,7 +96,7 @@ class CarController(CarControllerBase):
|
|||||||
return True
|
return True
|
||||||
|
|
||||||
if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
|
if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
|
||||||
abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
|
abs(CS.out.steeringRateDeg) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
|
||||||
self.legacy_2025_handoff_active = True
|
self.legacy_2025_handoff_active = True
|
||||||
self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
|
self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||||
|
|
||||||
@@ -173,7 +109,7 @@ class CarController(CarControllerBase):
|
|||||||
self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
|
self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||||
return True
|
return True
|
||||||
|
|
||||||
wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
|
wheel_stable = abs(CS.out.steeringRateDeg) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
|
||||||
abs(CS.out.steeringAngleDeg - self.legacy_2025_reengage_reference_angle) <= _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA
|
abs(CS.out.steeringAngleDeg - self.legacy_2025_reengage_reference_angle) <= _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA
|
||||||
if wheel_stable:
|
if wheel_stable:
|
||||||
self.legacy_2025_reengage_settle_frames += 1
|
self.legacy_2025_reengage_settle_frames += 1
|
||||||
@@ -214,7 +150,7 @@ class CarController(CarControllerBase):
|
|||||||
self._reset_angle_handoff()
|
self._reset_angle_handoff()
|
||||||
return False
|
return False
|
||||||
|
|
||||||
if getattr(CS.out, "steeringPressed", False):
|
if CS.out.steeringPressed:
|
||||||
self.angle_handoff_active = True
|
self.angle_handoff_active = True
|
||||||
self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
|
self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
|
||||||
self.angle_reengage_settle_frames = 0
|
self.angle_reengage_settle_frames = 0
|
||||||
@@ -223,7 +159,7 @@ class CarController(CarControllerBase):
|
|||||||
return True
|
return True
|
||||||
|
|
||||||
if not self.angle_handoff_active and not self.angle_lkas_active and \
|
if not self.angle_handoff_active and not self.angle_lkas_active and \
|
||||||
abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE:
|
abs(CS.out.steeringRateDeg) > _ANGLE_REENGAGE_MAX_STEER_RATE:
|
||||||
self.angle_handoff_active = True
|
self.angle_handoff_active = True
|
||||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||||
|
|
||||||
@@ -236,7 +172,7 @@ class CarController(CarControllerBase):
|
|||||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||||
return True
|
return True
|
||||||
|
|
||||||
wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
|
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
|
abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
|
||||||
if wheel_stable:
|
if wheel_stable:
|
||||||
self.angle_reengage_settle_frames += 1
|
self.angle_reengage_settle_frames += 1
|
||||||
@@ -331,19 +267,9 @@ class CarController(CarControllerBase):
|
|||||||
elif abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW:
|
elif abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW:
|
||||||
self.driver_override = False
|
self.driver_override = False
|
||||||
|
|
||||||
mads_only = CC.latActive and not getattr(CC, "enabled", False)
|
lat_active = CC.latActive and not self.driver_override
|
||||||
mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
|
|
||||||
abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
|
|
||||||
lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
|
|
||||||
getattr(CS.out, "gearShifter", structs.CarState.GearShifter.drive) == structs.CarState.GearShifter.drive and \
|
|
||||||
not getattr(CS.out, "standstill", False)
|
|
||||||
manual_handoff = self._angle_manual_handoff(CS, lkas_available)
|
|
||||||
lat_active = lkas_available and not self.driver_override and not manual_handoff
|
|
||||||
if lat_active and not self.angle_lkas_active:
|
|
||||||
self.apply_steer_last = CS.out.steeringAngleDeg
|
|
||||||
steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lat_active else CC.actuators.steeringAngleDeg
|
|
||||||
apply_steer = apply_steer_angle_limits_vm(
|
apply_steer = apply_steer_angle_limits_vm(
|
||||||
steer_target,
|
CC.actuators.steeringAngleDeg,
|
||||||
self.apply_steer_last,
|
self.apply_steer_last,
|
||||||
CS.out.vEgoRaw,
|
CS.out.vEgoRaw,
|
||||||
CS.out.steeringAngleDeg,
|
CS.out.steeringAngleDeg,
|
||||||
@@ -356,7 +282,6 @@ class CarController(CarControllerBase):
|
|||||||
apply_steer = CS.out.steeringAngleDeg
|
apply_steer = CS.out.steeringAngleDeg
|
||||||
|
|
||||||
self.apply_steer_last = apply_steer
|
self.apply_steer_last = apply_steer
|
||||||
self.angle_lkas_active = lat_active
|
|
||||||
return subarucan.create_steering_control_angle(self.packer, apply_steer, lat_active, self.angle_bus)
|
return subarucan.create_steering_control_angle(self.packer, apply_steer, lat_active, self.angle_bus)
|
||||||
|
|
||||||
def lateral_torque(self, CC, CS):
|
def lateral_torque(self, CC, CS):
|
||||||
@@ -391,10 +316,6 @@ class CarController(CarControllerBase):
|
|||||||
|
|
||||||
can_sends = []
|
can_sends = []
|
||||||
|
|
||||||
stop_start_msg = self._stop_start_off_request(CC, CS, starpilot_toggles)
|
|
||||||
if stop_start_msg is not None:
|
|
||||||
can_sends.append(stop_start_msg)
|
|
||||||
|
|
||||||
# *** steering ***
|
# *** steering ***
|
||||||
if (self.frame % self.p.STEER_STEP) == 0:
|
if (self.frame % self.p.STEER_STEP) == 0:
|
||||||
if self.CP.flags & SubaruFlags.LKAS_ANGLE:
|
if self.CP.flags & SubaruFlags.LKAS_ANGLE:
|
||||||
|
|||||||
@@ -4,7 +4,7 @@ from opendbc.can import CANDefine, CANParser
|
|||||||
from opendbc.car import Bus, structs
|
from opendbc.car import Bus, structs
|
||||||
from opendbc.car.common.conversions import Conversions as CV
|
from opendbc.car.common.conversions import Conversions as CV
|
||||||
from opendbc.car.interfaces import CarStateBase
|
from opendbc.car.interfaces import CarStateBase
|
||||||
from opendbc.car.subaru.values import CAR, DBC, CanBus, SubaruFlags
|
from opendbc.car.subaru.values import DBC, CanBus, SubaruFlags
|
||||||
from opendbc.car import CanSignalRateCalculator
|
from opendbc.car import CanSignalRateCalculator
|
||||||
|
|
||||||
|
|
||||||
@@ -15,8 +15,6 @@ class CarState(CarStateBase):
|
|||||||
self.shifter_values = can_define.dv["Transmission"]["Gear"]
|
self.shifter_values = can_define.dv["Transmission"]["Gear"]
|
||||||
|
|
||||||
self.angle_rate_calulator = CanSignalRateCalculator(50)
|
self.angle_rate_calulator = CanSignalRateCalculator(50)
|
||||||
self.dashlights_msg = {}
|
|
||||||
self.stop_start_state = 0
|
|
||||||
|
|
||||||
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
|
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
|
||||||
cp = can_parsers[Bus.pt]
|
cp = can_parsers[Bus.pt]
|
||||||
@@ -26,10 +24,6 @@ class CarState(CarStateBase):
|
|||||||
cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
|
cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
|
||||||
ret = structs.CarState()
|
ret = structs.CarState()
|
||||||
|
|
||||||
if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
|
|
||||||
self.dashlights_msg = copy.copy(cp.vl["Dashlights"])
|
|
||||||
self.stop_start_state = cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]
|
|
||||||
|
|
||||||
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
|
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
|
||||||
ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
|
ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
|
||||||
if self.CP.flags & SubaruFlags.PREGLOBAL:
|
if self.CP.flags & SubaruFlags.PREGLOBAL:
|
||||||
|
|||||||
@@ -40,8 +40,6 @@ class CarInterface(CarInterfaceBase):
|
|||||||
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM.value
|
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM.value
|
||||||
if ret.flags & SubaruFlags.D_PLATFORM_CAMERA:
|
if ret.flags & SubaruFlags.D_PLATFORM_CAMERA:
|
||||||
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
|
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
|
||||||
if candidate == CAR.SUBARU_OUTBACK_2023:
|
|
||||||
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
|
|
||||||
if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
|
if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
|
||||||
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value
|
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value
|
||||||
|
|
||||||
|
|||||||
@@ -182,20 +182,6 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
|
|||||||
return packer.make_can_msg("ES_DashStatus", bus, values)
|
return packer.make_can_msg("ES_DashStatus", bus, values)
|
||||||
|
|
||||||
|
|
||||||
def create_stop_start_control(packer, dashlights_msg, counter=None, bus=CanBus.alt):
|
|
||||||
"""Create the Outback 2023-24 momentary Stop/Start button request.
|
|
||||||
|
|
||||||
Dashlights is a stock periodic message, so preserve the live frame and only
|
|
||||||
change the event bit. CANPacker calculates the Subaru checksum for us.
|
|
||||||
"""
|
|
||||||
values = dict(dashlights_msg)
|
|
||||||
if counter is None:
|
|
||||||
counter = (int(values.get("COUNTER", 0)) + 1) % 0x10
|
|
||||||
values["COUNTER"] = counter % 0x10
|
|
||||||
values["STOP_START"] = 1
|
|
||||||
return packer.make_can_msg("Dashlights", bus, values)
|
|
||||||
|
|
||||||
|
|
||||||
def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value, bus=CanBus.main):
|
def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value, bus=CanBus.main):
|
||||||
values = {s: es_brake_msg[s] for s in [
|
values = {s: es_brake_msg[s] for s in [
|
||||||
"CHECKSUM",
|
"CHECKSUM",
|
||||||
|
|||||||
@@ -193,7 +193,6 @@ def test_outback_2023_uses_d_platform_bus_layout():
|
|||||||
|
|
||||||
assert CP.flags & SubaruFlags.D_PLATFORM
|
assert CP.flags & SubaruFlags.D_PLATFORM
|
||||||
assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
|
assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
|
||||||
assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
|
|
||||||
assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
|
assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
|
||||||
assert CanBus.main_for_cp(CP) == CanBus.alt
|
assert CanBus.main_for_cp(CP) == CanBus.alt
|
||||||
assert CanBus.angle_for_cp(CP) == CanBus.main
|
assert CanBus.angle_for_cp(CP) == CanBus.main
|
||||||
@@ -206,52 +205,6 @@ def test_outback_2023_uses_d_platform_bus_layout():
|
|||||||
assert CP.lateralSmoothSeconds == pytest.approx(0.4)
|
assert CP.lateralSmoothSeconds == pytest.approx(0.4)
|
||||||
|
|
||||||
|
|
||||||
def test_stop_start_request_is_bounded_and_uses_live_dashlights():
|
|
||||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
|
|
||||||
controller = CarController({}, CP)
|
|
||||||
controller.frame = 101
|
|
||||||
|
|
||||||
class TestActuators:
|
|
||||||
steeringAngleDeg = 0.0
|
|
||||||
|
|
||||||
def as_builder(self):
|
|
||||||
return SimpleNamespace(steeringAngleDeg=self.steeringAngleDeg)
|
|
||||||
|
|
||||||
CC = SimpleNamespace(
|
|
||||||
enabled=False,
|
|
||||||
latActive=False,
|
|
||||||
longActive=False,
|
|
||||||
actuators=TestActuators(),
|
|
||||||
hudControl=SimpleNamespace(leadVisible=False),
|
|
||||||
cruiseControl=SimpleNamespace(cancel=False),
|
|
||||||
)
|
|
||||||
CS = SimpleNamespace(
|
|
||||||
canValid=True,
|
|
||||||
dashlights_msg={"COUNTER": 6, "STOP_START": 0},
|
|
||||||
stop_start_state=0,
|
|
||||||
out=SimpleNamespace(
|
|
||||||
standstill=True,
|
|
||||||
gearShifter=structs.CarState.GearShifter.park,
|
|
||||||
),
|
|
||||||
)
|
|
||||||
toggles = SimpleNamespace(subaru_stop_start_off=True, subaru_sng=False)
|
|
||||||
|
|
||||||
_, can_sends = controller.update(CC, CS, 0, toggles)
|
|
||||||
stop_start_msgs = [msg for msg in can_sends if msg[0] == 0x390]
|
|
||||||
assert len(stop_start_msgs) == 1
|
|
||||||
assert stop_start_msgs[0][2] == CanBus.alt
|
|
||||||
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("Dashlights", 0)], CanBus.alt)
|
|
||||||
parser.update([(1, [stop_start_msgs[0]])])
|
|
||||||
assert parser.vl["Dashlights"]["STOP_START"] == 1
|
|
||||||
assert parser.vl["Dashlights"]["COUNTER"] == 7
|
|
||||||
|
|
||||||
controller.frame = 103
|
|
||||||
CS.stop_start_state = 3
|
|
||||||
_, can_sends = controller.update(CC, CS, 0, toggles)
|
|
||||||
assert not any(msg[0] == 0x390 for msg in can_sends)
|
|
||||||
assert controller.stop_start_acknowledged
|
|
||||||
|
|
||||||
|
|
||||||
def test_legacy_2025_uses_gen2_angle_bus_layout():
|
def test_legacy_2025_uses_gen2_angle_bus_layout():
|
||||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
|
CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
|
||||||
parsers = CarState.get_can_parsers(CP)
|
parsers = CarState.get_can_parsers(CP)
|
||||||
@@ -476,62 +429,14 @@ def test_angle_controller_tracks_driver_override():
|
|||||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
|
CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
|
||||||
controller = CarController({}, CP)
|
controller = CarController({}, CP)
|
||||||
CC = SimpleNamespace(latActive=True, actuators=SimpleNamespace(steeringAngleDeg=15.0))
|
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)
|
msg = controller.lateral_angle(CC, CS)
|
||||||
|
|
||||||
assert controller.driver_override
|
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 controller.apply_steer_last == CS.out.steeringAngleDeg
|
||||||
assert msg[0] == 0x124
|
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_angle_controller_blocks_low_speed_mads_engagement():
|
|
||||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
|
|
||||||
controller = CarController({}, CP)
|
|
||||||
CC = SimpleNamespace(
|
|
||||||
enabled=False,
|
|
||||||
latActive=True,
|
|
||||||
actuators=SimpleNamespace(steeringAngleDeg=15.0),
|
|
||||||
)
|
|
||||||
CS = SimpleNamespace(out=SimpleNamespace(
|
|
||||||
vEgoRaw=0.3,
|
|
||||||
steeringAngleDeg=80.0,
|
|
||||||
steeringTorque=0.0,
|
|
||||||
gearShifter=structs.CarState.GearShifter.drive,
|
|
||||||
standstill=False,
|
|
||||||
))
|
|
||||||
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
|
|
||||||
|
|
||||||
msg = controller.lateral_angle(CC, CS)
|
|
||||||
parser.update([(1, [msg])])
|
|
||||||
|
|
||||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
|
|
||||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
|
|
||||||
|
|
||||||
CS.out.vEgoRaw = 1.0
|
|
||||||
CS.out.steeringAngleDeg = 130.0
|
|
||||||
msg = controller.lateral_angle(CC, CS)
|
|
||||||
parser.update([(2, [msg])])
|
|
||||||
|
|
||||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
|
|
||||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
|
|
||||||
|
|
||||||
CS.out.steeringAngleDeg = 0.0
|
|
||||||
msg = controller.lateral_angle(CC, CS)
|
|
||||||
parser.update([(3, [msg])])
|
|
||||||
|
|
||||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
|
|
||||||
|
|
||||||
|
|
||||||
def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
|
def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
|
||||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
|
CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
|
||||||
|
|||||||
@@ -37,11 +37,6 @@ class CarControllerParams:
|
|||||||
self.STEER_OVERRIDE_TORQUE_HIGH = 200
|
self.STEER_OVERRIDE_TORQUE_HIGH = 200
|
||||||
self.STEER_OVERRIDE_TORQUE_LOW = 150
|
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:
|
if CP.flags & SubaruFlags.GLOBAL_GEN2:
|
||||||
# TODO: lower rate limits, this reaches min/max in 0.5s which negatively affects tuning
|
# TODO: lower rate limits, this reaches min/max in 0.5s which negatively affects tuning
|
||||||
self.STEER_MAX = 1500
|
self.STEER_MAX = 1500
|
||||||
@@ -88,7 +83,6 @@ class SubaruSafetyFlags(IntFlag):
|
|||||||
D_PLATFORM = 32
|
D_PLATFORM = 32
|
||||||
D_PLATFORM_CAMERA = 64
|
D_PLATFORM_CAMERA = 64
|
||||||
FIXED_ANGLE_LIMITS = 128
|
FIXED_ANGLE_LIMITS = 128
|
||||||
STOP_START_BUTTON = 256
|
|
||||||
LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS
|
LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -74,6 +74,7 @@ def get_test_starpilot_toggles() -> SimpleNamespace:
|
|||||||
disable_openpilot_long=False,
|
disable_openpilot_long=False,
|
||||||
force_fingerprint=False,
|
force_fingerprint=False,
|
||||||
lock_doors=False,
|
lock_doors=False,
|
||||||
|
reverse_cruise_increase=False,
|
||||||
sng_hack=False,
|
sng_hack=False,
|
||||||
subaru_sng=False,
|
subaru_sng=False,
|
||||||
subaru_sng_manual_parking_brake=False,
|
subaru_sng_manual_parking_brake=False,
|
||||||
@@ -300,30 +301,6 @@ class TestCarInterfaces:
|
|||||||
)
|
)
|
||||||
assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
||||||
|
|
||||||
def test_hyundai_elantra_hev_auto_aol_sets_lkas_on_engage_flag(self):
|
|
||||||
toggles = get_test_starpilot_toggles()
|
|
||||||
toggles.always_on_lateral_main = True
|
|
||||||
fingerprint = {bus: {} for bus in range(8)}
|
|
||||||
|
|
||||||
car_params = HyundaiCarInterface.get_params(
|
|
||||||
HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
|
|
||||||
fingerprint,
|
|
||||||
[],
|
|
||||||
alpha_long=True,
|
|
||||||
is_release=False,
|
|
||||||
docs=False,
|
|
||||||
starpilot_toggles=toggles,
|
|
||||||
)
|
|
||||||
fp_car_params = HyundaiCarInterface.get_starpilot_params(
|
|
||||||
HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
|
|
||||||
fingerprint,
|
|
||||||
[],
|
|
||||||
car_params,
|
|
||||||
toggles,
|
|
||||||
)
|
|
||||||
|
|
||||||
assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
|
||||||
|
|
||||||
def test_toyota_disable_openpilot_long_sets_stock_long_safety_flag(self):
|
def test_toyota_disable_openpilot_long_sets_stock_long_safety_flag(self):
|
||||||
CarInterface = interfaces[TOYOTA_CAR.TOYOTA_PRIUS_TSS2]
|
CarInterface = interfaces[TOYOTA_CAR.TOYOTA_PRIUS_TSS2]
|
||||||
fingerprint = {bus: {} for bus in range(8)}
|
fingerprint = {bus: {} for bus in range(8)}
|
||||||
|
|||||||
@@ -126,13 +126,12 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
|||||||
"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
|
"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
|
||||||
"GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
|
"GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
|
||||||
"GENESIS_GV70_ELECTRIFIED_2ND_GEN" = [nan, 2.5, nan]
|
"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_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
|
||||||
"GENESIS_GV80_2025" = [nan, 2.5, nan]
|
"GENESIS_GV80_2025" = [nan, 2.5, nan]
|
||||||
# Note that some Rivians achieve significantly less lateral acceleration than this
|
# Note that some Rivians achieve significantly less lateral acceleration than this
|
||||||
"RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
|
"RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
|
||||||
"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
|
"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_PILOT_4G" = [1.25, 1.25, 0.21]
|
||||||
"HONDA_PASSPORT_4G" = [1.2, 1.2, 0.16]
|
"HONDA_PASSPORT_4G" = [1.2, 1.2, 0.16]
|
||||||
"ACURA_MDX_4G_MMR" = [1.25, 1.25, 0.15]
|
"ACURA_MDX_4G_MMR" = [1.25, 1.25, 0.15]
|
||||||
|
|||||||
@@ -42,7 +42,6 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = 0.35 # m/s
|
|||||||
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
|
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
|
||||||
MAX_STEER_RATE = 100 # deg/s
|
MAX_STEER_RATE = 100 # deg/s
|
||||||
MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut
|
MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut
|
||||||
TOYOTA_HIGHLANDER_TSS2_MAX_STEER_RATE_FRAMES = 8
|
|
||||||
|
|
||||||
# EPS allows user torque above threshold for 50 frames before permanently faulting
|
# EPS allows user torque above threshold for 50 frames before permanently faulting
|
||||||
MAX_USER_TORQUE = 500
|
MAX_USER_TORQUE = 500
|
||||||
@@ -73,11 +72,6 @@ def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
|
|||||||
) or highlander_sdsu)
|
) or highlander_sdsu)
|
||||||
|
|
||||||
|
|
||||||
def get_steer_rate_limit_frames(car_fingerprint) -> int:
|
|
||||||
return (TOYOTA_HIGHLANDER_TSS2_MAX_STEER_RATE_FRAMES
|
|
||||||
if car_fingerprint == CAR.TOYOTA_HIGHLANDER_TSS2 else MAX_STEER_RATE_FRAMES)
|
|
||||||
|
|
||||||
|
|
||||||
def get_long_tune(CP, params):
|
def get_long_tune(CP, params):
|
||||||
kiBP = [2., 5.]
|
kiBP = [2., 5.]
|
||||||
kiV = [0.5, 0.25]
|
kiV = [0.5, 0.25]
|
||||||
@@ -229,7 +223,6 @@ class CarController(CarControllerBase):
|
|||||||
self.standstill_req = False
|
self.standstill_req = False
|
||||||
self.permit_braking = True
|
self.permit_braking = True
|
||||||
self.steer_rate_counter = 0
|
self.steer_rate_counter = 0
|
||||||
self.steer_rate_limit_frames = get_steer_rate_limit_frames(self.CP.carFingerprint)
|
|
||||||
self.distance_button = 0
|
self.distance_button = 0
|
||||||
|
|
||||||
# *** start long control state ***
|
# *** start long control state ***
|
||||||
@@ -352,10 +345,8 @@ class CarController(CarControllerBase):
|
|||||||
apply_torque = apply_meas_steer_torque_limits(new_torque, self.last_torque, CS.out.steeringTorqueEps, self.params)
|
apply_torque = apply_meas_steer_torque_limits(new_torque, self.last_torque, CS.out.steeringTorqueEps, self.params)
|
||||||
|
|
||||||
# >100 degree/sec steering fault prevention
|
# >100 degree/sec steering fault prevention
|
||||||
self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
|
self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
|
||||||
abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
|
self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
|
||||||
self.steer_rate_counter, self.steer_rate_limit_frames,
|
|
||||||
)
|
|
||||||
|
|
||||||
if not lat_active:
|
if not lat_active:
|
||||||
apply_torque = 0
|
apply_torque = 0
|
||||||
@@ -527,8 +518,7 @@ class CarController(CarControllerBase):
|
|||||||
|
|
||||||
main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
|
main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
|
||||||
can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
|
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,
|
CS.acc_type, fcw_alert, self.distance_button, getattr(starpilot_toggles, "reverse_cruise_increase", False)))
|
||||||
getattr(starpilot_toggles, "reverse_cruise_increase", False)))
|
|
||||||
if self.CP.flags & ToyotaFlags.SECOC.value:
|
if self.CP.flags & ToyotaFlags.SECOC.value:
|
||||||
acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
|
acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
|
||||||
acc_cmd_2 = add_mac(self.secoc_key,
|
acc_cmd_2 = add_mac(self.secoc_key,
|
||||||
@@ -548,8 +538,7 @@ class CarController(CarControllerBase):
|
|||||||
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
|
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
|
||||||
else:
|
else:
|
||||||
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False,
|
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False,
|
||||||
self.distance_button,
|
self.distance_button, getattr(starpilot_toggles, "reverse_cruise_increase", False)))
|
||||||
getattr(starpilot_toggles, "reverse_cruise_increase", False)))
|
|
||||||
|
|
||||||
# *** hud ui ***
|
# *** hud ui ***
|
||||||
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
|
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
|
||||||
|
|||||||
@@ -1360,7 +1360,6 @@ FW_VERSIONS = {
|
|||||||
b'\x018966333T5100\x00\x00\x00\x00',
|
b'\x018966333T5100\x00\x00\x00\x00',
|
||||||
b'\x018966333X6000\x00\x00\x00\x00',
|
b'\x018966333X6000\x00\x00\x00\x00',
|
||||||
b'\x01896633T07000\x00\x00\x00\x00',
|
b'\x01896633T07000\x00\x00\x00\x00',
|
||||||
b'\x01896633T24000\x00\x00\x00\x00',
|
|
||||||
b'\x01896633T38000\x00\x00\x00\x00',
|
b'\x01896633T38000\x00\x00\x00\x00',
|
||||||
b'\x01896633T58000\x00\x00\x00\x00',
|
b'\x01896633T58000\x00\x00\x00\x00',
|
||||||
b'\x01896633T63000\x00\x00\x00\x00',
|
b'\x01896633T63000\x00\x00\x00\x00',
|
||||||
@@ -1378,7 +1377,6 @@ FW_VERSIONS = {
|
|||||||
b'\x01F152606461\x00\x00\x00\x00\x00\x00',
|
b'\x01F152606461\x00\x00\x00\x00\x00\x00',
|
||||||
b'\x01F15260646200\x00\x00\x00\x00',
|
b'\x01F15260646200\x00\x00\x00\x00',
|
||||||
b'\x01F152633A71\x00\x00\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'F152633423\x00\x00\x00\x00\x00\x00',
|
||||||
b'F152633680\x00\x00\x00\x00\x00\x00',
|
b'F152633680\x00\x00\x00\x00\x00\x00',
|
||||||
b'F152633681\x00\x00\x00\x00\x00\x00',
|
b'F152633681\x00\x00\x00\x00\x00\x00',
|
||||||
@@ -1413,7 +1411,6 @@ FW_VERSIONS = {
|
|||||||
b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||||
b'\x028646F3309100\x00\x00\x00\x008646G5301200\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'\x028646F3309400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||||
b'\x028646F3313000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
|
||||||
],
|
],
|
||||||
},
|
},
|
||||||
CAR.LEXUS_ES: {
|
CAR.LEXUS_ES: {
|
||||||
@@ -1451,26 +1448,21 @@ FW_VERSIONS = {
|
|||||||
CAR.LEXUS_GS_F: {
|
CAR.LEXUS_GS_F: {
|
||||||
(Ecu.engine, 0x7e0, None): [
|
(Ecu.engine, 0x7e0, None): [
|
||||||
b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
|
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): [
|
(Ecu.abs, 0x7b0, None): [
|
||||||
b'F152630700\x00\x00\x00\x00\x00\x00',
|
b'F152630700\x00\x00\x00\x00\x00\x00',
|
||||||
b'F152630400\x00\x00\x00\x00\x00\x00',
|
|
||||||
],
|
],
|
||||||
(Ecu.dsu, 0x791, None): [
|
(Ecu.dsu, 0x791, None): [
|
||||||
b'881513016200\x00\x00\x00\x00',
|
b'881513016200\x00\x00\x00\x00',
|
||||||
b'881513011300\x00\x00\x00\x00',
|
|
||||||
],
|
],
|
||||||
(Ecu.eps, 0x7a1, None): [
|
(Ecu.eps, 0x7a1, None): [
|
||||||
b'8965B30551\x00\x00\x00\x00\x00\x00',
|
b'8965B30551\x00\x00\x00\x00\x00\x00',
|
||||||
b'8965B30431\x00\x00\x00\x00\x00\x00',
|
|
||||||
],
|
],
|
||||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||||
b'8821F4702000\x00\x00\x00\x00',
|
b'8821F4702000\x00\x00\x00\x00',
|
||||||
],
|
],
|
||||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||||
b'8646F3002100\x00\x00\x00\x00',
|
b'8646F3002100\x00\x00\x00\x00',
|
||||||
b'8646F3001200\x00\x00\x00\x00',
|
|
||||||
],
|
],
|
||||||
},
|
},
|
||||||
CAR.LEXUS_NX: {
|
CAR.LEXUS_NX: {
|
||||||
|
|||||||
@@ -10,7 +10,6 @@ from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
|
|||||||
from opendbc.car.toyota import toyotacan
|
from opendbc.car.toyota import toyotacan
|
||||||
from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
|
from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
|
||||||
get_prius_positive_feedforward_scale, \
|
get_prius_positive_feedforward_scale, \
|
||||||
get_steer_rate_limit_frames, \
|
|
||||||
limit_interceptor_pcm_accel, \
|
limit_interceptor_pcm_accel, \
|
||||||
limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
|
limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
|
||||||
limit_prius_stopping_accel, should_bypass_toyota_long_pid, update_permit_braking
|
limit_prius_stopping_accel, should_bypass_toyota_long_pid, update_permit_braking
|
||||||
@@ -20,7 +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.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, \
|
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, \
|
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 opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||||
from openpilot.common.params import Params
|
from openpilot.common.params import Params
|
||||||
|
|
||||||
@@ -41,32 +40,6 @@ class TestToyotaInterfaces:
|
|||||||
# At this time, only RAV4 2023 is expected to use LTA/angle control
|
# At this time, only RAV4 2023 is expected to use LTA/angle control
|
||||||
assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023}
|
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):
|
def test_rav4_prime_force_torque_controller(self):
|
||||||
fingerprint = {bus: {} for bus in range(8)}
|
fingerprint = {bus: {} for bus in range(8)}
|
||||||
|
|
||||||
@@ -707,10 +680,6 @@ class TestToyotaFingerprint:
|
|||||||
|
|
||||||
|
|
||||||
class TestToyotaCarController:
|
class TestToyotaCarController:
|
||||||
def test_highlander_tss2_uses_early_steer_rate_fault_guard(self):
|
|
||||||
assert get_steer_rate_limit_frames(CAR.TOYOTA_HIGHLANDER_TSS2) == 8
|
|
||||||
assert get_steer_rate_limit_frames(CAR.TOYOTA_RAV4_TSS2) == 18
|
|
||||||
|
|
||||||
@staticmethod
|
@staticmethod
|
||||||
def _make_controller(*, standstill_req=False, last_standstill=False):
|
def _make_controller(*, standstill_req=False, last_standstill=False):
|
||||||
controller = CarController.__new__(CarController)
|
controller = CarController.__new__(CarController)
|
||||||
@@ -876,22 +845,6 @@ class TestToyotaCarController:
|
|||||||
parser.update([(1, [reverse_msg])])
|
parser.update([(1, [reverse_msg])])
|
||||||
assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 2
|
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
|
|
||||||
|
|
||||||
def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
|
def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
|
||||||
controller = self._make_controller()
|
controller = self._make_controller()
|
||||||
controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
|
controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
|
||||||
|
|||||||
@@ -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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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
|
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" 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_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" 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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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
|
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" 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_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" 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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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 _bosch_standstill.dbc";
|
||||||
CM_ "IMPORT _steering_sensors_a.dbc";
|
CM_ "IMPORT _steering_sensors_a.dbc";
|
||||||
CM_ "IMPORT _gearbox_common.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
@@ -349,7 +349,6 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
|
|||||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" 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_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" 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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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
|
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" 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_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" 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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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
|
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" 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_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" 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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||||
|
|
||||||
CM_ "honda_common_canfd.dbc starts here";
|
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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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
|
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" 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_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||||
|
|
||||||
@@ -562,8 +561,8 @@ 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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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
|
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" 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_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||||
|
|
||||||
@@ -555,8 +554,8 @@ 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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||||
|
|||||||
@@ -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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
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_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
|
||||||
CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
|
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_ 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" 11 "B";
|
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 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_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";
|
VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";
|
||||||
|
|||||||
@@ -559,7 +559,6 @@ static safety_config gm_init(uint16_t param) {
|
|||||||
const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
|
const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
|
||||||
const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
|
const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
|
||||||
const uint16_t GM_PARAM_PANDA_PADDLE_SCHED = 32768U;
|
const uint16_t GM_PARAM_PANDA_PADDLE_SCHED = 32768U;
|
||||||
const uint16_t GM_PARAM_VOLT_CC_GATEWAY = 16384U;
|
|
||||||
|
|
||||||
static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
|
static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
|
||||||
.max_gas = 8191,
|
.max_gas = 8191,
|
||||||
@@ -707,11 +706,6 @@ static safety_config gm_init(uint16_t param) {
|
|||||||
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false},
|
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false},
|
||||||
{0x184, 2, 8, .check_relay = false}, {0x1E1, 2, 7, .check_relay = false}}; // camera bus
|
{0x184, 2, 8, .check_relay = false}, {0x1E1, 2, 7, .check_relay = false}}; // camera bus
|
||||||
|
|
||||||
static const CanMsg GM_CC_LONG_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false},
|
|
||||||
{0x40A, 0, 7, .check_relay = false}, {0x370, 0, 6, .check_relay = false},
|
|
||||||
{0x1E1, 0, 7, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false},
|
|
||||||
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};
|
|
||||||
|
|
||||||
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
|
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
|
||||||
gm_sdgm = GET_FLAG(param, GM_PARAM_HW_SDGM);
|
gm_sdgm = GET_FLAG(param, GM_PARAM_HW_SDGM);
|
||||||
gm_ascm_int = GET_FLAG(param, GM_PARAM_HW_ASCM_INT);
|
gm_ascm_int = GET_FLAG(param, GM_PARAM_HW_ASCM_INT);
|
||||||
@@ -720,7 +714,6 @@ static safety_config gm_init(uint16_t param) {
|
|||||||
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
|
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
|
||||||
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
|
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
|
||||||
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
|
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
|
||||||
const bool gm_volt_cc_gateway = GET_FLAG(param, GM_PARAM_VOLT_CC_GATEWAY) && gm_no_camera && !gm_pedal_long && !gm_has_acc;
|
|
||||||
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
|
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
|
||||||
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
|
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
|
||||||
gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
|
gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
|
||||||
@@ -788,8 +781,6 @@ static safety_config gm_init(uint16_t param) {
|
|||||||
} else {
|
} else {
|
||||||
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
|
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
|
||||||
}
|
}
|
||||||
} else if (gm_cc_long && gm_volt_cc_gateway && (gm_hw == GM_ASCM) && !gm_sdgm) {
|
|
||||||
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_ASCM_TX_MSGS);
|
|
||||||
} else if ((gm_hw == GM_CAM) || gm_sdgm) {
|
} else if ((gm_hw == GM_CAM) || gm_sdgm) {
|
||||||
// FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
|
// FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
|
||||||
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
|
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
|
||||||
|
|||||||
@@ -44,9 +44,6 @@ static bool honda_fwd_brake = false;
|
|||||||
static bool honda_bosch_long = false;
|
static bool honda_bosch_long = false;
|
||||||
static bool honda_bosch_radarless = false;
|
static bool honda_bosch_radarless = false;
|
||||||
static bool honda_bosch_canfd = false;
|
static bool honda_bosch_canfd = false;
|
||||||
static bool honda_bosch_canfd_mvl = false;
|
|
||||||
// Freshness of OP-authored SCM_BUTTONS toward camera on radarless/CANFD.
|
|
||||||
static int honda_op_buttons_fresh = 0;
|
|
||||||
typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
|
typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
|
||||||
static HondaHw honda_hw = HONDA_NIDEC;
|
static HondaHw honda_hw = HONDA_NIDEC;
|
||||||
|
|
||||||
@@ -129,9 +126,6 @@ static void honda_rx_hook(const CANPacket_t *msg) {
|
|||||||
// state machine to enter and exit controls for button enabling
|
// state machine to enter and exit controls for button enabling
|
||||||
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
||||||
if (((msg->addr == 0x1A6U) || (msg->addr == 0x296U)) && (msg->bus == pt_bus)) {
|
if (((msg->addr == 0x1A6U) || (msg->addr == 0x296U)) && (msg->bus == pt_bus)) {
|
||||||
if (honda_op_buttons_fresh > 0) {
|
|
||||||
honda_op_buttons_fresh--;
|
|
||||||
}
|
|
||||||
int button = (msg->data[0] & 0xE0U) >> 5;
|
int button = (msg->data[0] & 0xE0U) >> 5;
|
||||||
|
|
||||||
// enter controls on the falling edge of set or resume
|
// enter controls on the falling edge of set or resume
|
||||||
@@ -291,28 +285,15 @@ static bool honda_tx_hook(const CANPacket_t *msg) {
|
|||||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
|
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
|
||||||
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
||||||
// This avoids unintended engagements while still allowing resume spam
|
// This avoids unintended engagements while still allowing resume spam
|
||||||
const bool is_buttons_bus = (msg->bus == bus_buttons) || (honda_bosch_canfd_mvl && (msg->bus == 2U));
|
if ((msg->addr == 0x296U) && !controls_allowed && (msg->bus == bus_buttons)) {
|
||||||
if ((msg->addr == 0x296U) && !controls_allowed && is_buttons_bus) {
|
|
||||||
if (((msg->data[0] >> 5) & 0x7U) != 2U) {
|
if (((msg->data[0] >> 5) & 0x7U) != 2U) {
|
||||||
tx = false;
|
tx = false;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
if (tx && honda_bosch_canfd_mvl && (msg->addr == 0x296U) && (msg->bus == 2U)) {
|
// Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||||
honda_op_buttons_fresh = 10;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Normal Honda allows only tester-present to the radar. CAN-FD additionally needs exactly the
|
|
||||||
// extended-session and disableRxAndTx requests for the deferred handover; re-enable remains blocked
|
|
||||||
// during normal driving.
|
|
||||||
if (msg->addr == 0x18DAB0F1U) {
|
if (msg->addr == 0x18DAB0F1U) {
|
||||||
const uint32_t first_bytes = GET_BYTES(msg, 0, 4);
|
if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
|
||||||
bool allowed = first_bytes == 0x00803E02U;
|
|
||||||
if (honda_bosch_canfd_mvl) {
|
|
||||||
allowed = allowed || (first_bytes == 0x00031002U);
|
|
||||||
allowed = allowed || (first_bytes == 0x03832803U);
|
|
||||||
}
|
|
||||||
if (!allowed || (GET_BYTES(msg, 4, 4) != 0x0U)) {
|
|
||||||
tx = false;
|
tx = false;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -348,7 +329,6 @@ static safety_config honda_nidec_init(uint16_t param) {
|
|||||||
honda_bosch_long = false;
|
honda_bosch_long = false;
|
||||||
honda_bosch_radarless = false;
|
honda_bosch_radarless = false;
|
||||||
honda_bosch_canfd = false;
|
honda_bosch_canfd = false;
|
||||||
honda_bosch_canfd_mvl = false;
|
|
||||||
enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
|
enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
|
||||||
|
|
||||||
safety_config ret;
|
safety_config ret;
|
||||||
@@ -410,26 +390,15 @@ static safety_config honda_bosch_init(uint16_t param) {
|
|||||||
static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x1C8, 0, 8, .check_relay = true},
|
static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x1C8, 0, 8, .check_relay = true},
|
||||||
{0x30C, 0, 8, .check_relay = true}}; // Bosch radarless w/ gas and brakes
|
{0x30C, 0, 8, .check_relay = true}}; // Bosch radarless w/ gas and brakes
|
||||||
|
|
||||||
// Keep generic CAN-FD safety unchanged for non-Accord Honda platforms.
|
|
||||||
static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};
|
static CanMsg HONDA_CANFD_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};
|
||||||
static CanMsg HONDA_CANFD_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x1DF, 0, 8, .check_relay = false}, {0x1EF, 0, 8, .check_relay = false},
|
static CanMsg HONDA_CANFD_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x1DF, 0, 8, .check_relay = false}, {0x1EF, 0, 8, .check_relay = false},
|
||||||
{0x30C, 0, 8, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}, {0x39F, 0, 8, .check_relay = false},
|
{0x30C, 0, 8, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}, {0x18DAB0F1, 0, 8, .check_relay = false},
|
||||||
{0x18DAB0F1, 0, 8, .check_relay = false}};
|
{0x39F, 0, 8, .check_relay = false}};
|
||||||
static CanMsg HONDA_CANFD_MVL_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 0, 4, .check_relay = false},
|
|
||||||
{0x296, 2, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}};
|
|
||||||
static CanMsg HONDA_CANFD_MVL_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x1DF, 0, 8, .check_relay = true}, {0x1EF, 0, 8, .check_relay = false},
|
|
||||||
{0x30C, 0, 8, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}, {0x296, 2, 4, .check_relay = false},
|
|
||||||
{0x39F, 0, 8, .check_relay = false}, {0x18DAB0F1, 0, 8, .check_relay = false},
|
|
||||||
{0x310, 0, 8, .check_relay = false}, {0x6CD5558, 0, 8, .check_relay = true}, {0x6CD5559, 0, 8, .check_relay = false},
|
|
||||||
{0xF31AA52, 0, 8, .check_relay = false}, {0xF31AA5C, 0, 8, .check_relay = true}, {0x1A45AA4E, 0, 8, .check_relay = false},
|
|
||||||
{0x310, 2, 8, .check_relay = false}, {0x6CD5558, 2, 8, .check_relay = true}, {0x6CD5559, 2, 8, .check_relay = false},
|
|
||||||
{0xF31AA52, 2, 8, .check_relay = false}, {0xF31AA5C, 2, 8, .check_relay = true}, {0x1A45AA4E, 2, 8, .check_relay = false}};
|
|
||||||
|
|
||||||
|
|
||||||
const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
|
const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
|
||||||
const uint16_t HONDA_PARAM_RADARLESS = 8;
|
const uint16_t HONDA_PARAM_RADARLESS = 8;
|
||||||
const uint16_t HONDA_PARAM_BOSCH_CANFD = 16;
|
const uint16_t HONDA_PARAM_BOSCH_CANFD = 16;
|
||||||
const uint16_t HONDA_PARAM_BOSCH_CANFD_MVL = 64;
|
|
||||||
|
|
||||||
// Bosch radarless has the powertrain bus on bus 0
|
// Bosch radarless has the powertrain bus on bus 0
|
||||||
static RxCheck honda_bosch_pt0_rx_checks[] = {
|
static RxCheck honda_bosch_pt0_rx_checks[] = {
|
||||||
@@ -455,8 +424,6 @@ static safety_config honda_bosch_init(uint16_t param) {
|
|||||||
honda_brake_switch_prev = false;
|
honda_brake_switch_prev = false;
|
||||||
honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS);
|
honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS);
|
||||||
honda_bosch_canfd = GET_FLAG(param, HONDA_PARAM_BOSCH_CANFD);
|
honda_bosch_canfd = GET_FLAG(param, HONDA_PARAM_BOSCH_CANFD);
|
||||||
honda_bosch_canfd_mvl = GET_FLAG(param, HONDA_PARAM_BOSCH_CANFD_MVL);
|
|
||||||
honda_op_buttons_fresh = 0;
|
|
||||||
// Checking for alternate brake override from safety parameter
|
// Checking for alternate brake override from safety parameter
|
||||||
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
|
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
|
||||||
enable_gas_interceptor = false;
|
enable_gas_interceptor = false;
|
||||||
@@ -490,17 +457,9 @@ static safety_config honda_bosch_init(uint16_t param) {
|
|||||||
}
|
}
|
||||||
} else if (honda_bosch_canfd) {
|
} else if (honda_bosch_canfd) {
|
||||||
if (honda_bosch_long) {
|
if (honda_bosch_long) {
|
||||||
if (honda_bosch_canfd_mvl) {
|
SET_TX_MSGS(HONDA_CANFD_LONG_TX_MSGS, ret);
|
||||||
SET_TX_MSGS(HONDA_CANFD_MVL_LONG_TX_MSGS, ret);
|
|
||||||
} else {
|
|
||||||
SET_TX_MSGS(HONDA_CANFD_LONG_TX_MSGS, ret);
|
|
||||||
}
|
|
||||||
} else {
|
} else {
|
||||||
if (honda_bosch_canfd_mvl) {
|
SET_TX_MSGS(HONDA_CANFD_TX_MSGS, ret);
|
||||||
SET_TX_MSGS(HONDA_CANFD_MVL_TX_MSGS, ret);
|
|
||||||
} else {
|
|
||||||
SET_TX_MSGS(HONDA_CANFD_TX_MSGS, ret);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
} else {
|
} else {
|
||||||
if (honda_bosch_long) {
|
if (honda_bosch_long) {
|
||||||
@@ -534,29 +493,10 @@ const safety_hooks honda_nidec_hooks = {
|
|||||||
.compute_checksum = honda_compute_checksum,
|
.compute_checksum = honda_compute_checksum,
|
||||||
};
|
};
|
||||||
|
|
||||||
static bool honda_bosch_fwd_hook(int bus_num, int addr) {
|
|
||||||
bool block_msg = false;
|
|
||||||
|
|
||||||
// When OP is actively replacing SCM_BUTTONS toward the camera, block the forwarded stock copy.
|
|
||||||
// Freshness makes this fail-safe: if OP stops transmitting, stock forwarding resumes quickly.
|
|
||||||
if (honda_bosch_canfd_mvl && controls_allowed && (honda_op_buttons_fresh > 0) &&
|
|
||||||
(bus_num == 0) && (addr == 0x296)) {
|
|
||||||
block_msg = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Deferred CAN-FD radar UDS responses do not belong on the camera side of the open relay.
|
|
||||||
if (honda_bosch_canfd_mvl && (bus_num == 0) && (addr == 0x18DAF1B0)) {
|
|
||||||
block_msg = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
return block_msg;
|
|
||||||
}
|
|
||||||
|
|
||||||
const safety_hooks honda_bosch_hooks = {
|
const safety_hooks honda_bosch_hooks = {
|
||||||
.init = honda_bosch_init,
|
.init = honda_bosch_init,
|
||||||
.rx = honda_rx_hook,
|
.rx = honda_rx_hook,
|
||||||
.tx = honda_tx_hook,
|
.tx = honda_tx_hook,
|
||||||
.fwd = honda_bosch_fwd_hook,
|
|
||||||
.get_counter = honda_get_counter,
|
.get_counter = honda_get_counter,
|
||||||
.get_checksum = honda_get_checksum,
|
.get_checksum = honda_get_checksum,
|
||||||
.compute_checksum = honda_compute_checksum,
|
.compute_checksum = honda_compute_checksum,
|
||||||
|
|||||||
@@ -6,9 +6,6 @@
|
|||||||
#define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \
|
#define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \
|
||||||
{0x1CF, bus, 8, .check_relay = false}, /* CRUISE_BUTTON */ \
|
{0x1CF, bus, 8, .check_relay = false}, /* CRUISE_BUTTON */ \
|
||||||
|
|
||||||
#define HYUNDAI_CANFD_ALT_CRUISE_BUTTON_TX_MSGS(bus) \
|
|
||||||
{0x1AA, bus, 16, .check_relay = false}, /* CRUISE_BUTTONS_ALT */ \
|
|
||||||
|
|
||||||
#define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \
|
#define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \
|
||||||
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
|
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
|
||||||
{0x50, a_can, 16, .check_relay = (a_can) == 0}, /* LKAS */ \
|
{0x50, a_can, 16, .check_relay = (a_can) == 0}, /* LKAS */ \
|
||||||
@@ -294,8 +291,8 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// cruise buttons check
|
// cruise buttons check
|
||||||
if ((msg->addr == 0x1cfU) || (hyundai_canfd_alt_buttons && (msg->addr == 0x1aaU))) {
|
if (msg->addr == 0x1cfU) {
|
||||||
int button = (msg->addr == 0x1aaU) ? ((msg->data[4] >> 4U) & 0x7U) : (msg->data[2] & 0x7U);
|
int button = msg->data[2] & 0x7U;
|
||||||
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
|
bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
|
||||||
bool is_resume = (button == HYUNDAI_BTN_RESUME);
|
bool is_resume = (button == HYUNDAI_BTN_RESUME);
|
||||||
bool is_set = (button == HYUNDAI_BTN_SET);
|
bool is_set = (button == HYUNDAI_BTN_SET);
|
||||||
@@ -430,6 +427,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
|||||||
{0x1DA, 1, 32, .check_relay = false}, // ADRV_0x1da
|
{0x1DA, 1, 32, .check_relay = false}, // ADRV_0x1da
|
||||||
};
|
};
|
||||||
|
|
||||||
|
static const CanMsg HYUNDAI_CANFD_CCNC_ANGLE_FALLBACK_TX_MSGS[] = {
|
||||||
|
HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(0, 1)
|
||||||
|
{0x12A, 1, 16, .check_relay = false}, // LFA status
|
||||||
|
};
|
||||||
|
|
||||||
static const CanMsg HYUNDAI_CANFD_LFA_STEERING_TX_MSGS[] = {
|
static const CanMsg HYUNDAI_CANFD_LFA_STEERING_TX_MSGS[] = {
|
||||||
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
|
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
|
||||||
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
|
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
|
||||||
@@ -453,12 +455,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
|||||||
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
|
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
|
||||||
{0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
|
{0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
|
||||||
|
|
||||||
#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_ALT_BUTTONS_TX_MSGS(longitudinal) \
|
|
||||||
HYUNDAI_CANFD_ALT_CRUISE_BUTTON_TX_MSGS(2) \
|
|
||||||
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
|
|
||||||
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
|
|
||||||
{0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
|
|
||||||
|
|
||||||
#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
|
#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
|
||||||
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
|
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
|
||||||
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
|
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
|
||||||
@@ -468,15 +464,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
|||||||
{0x7C4, 2, 8, .check_relay = true}, /* camera support frame */ \
|
{0x7C4, 2, 8, .check_relay = true}, /* camera support frame */ \
|
||||||
{0xEA, 2, 24, .check_relay = true}, /* MDPS support frame */ \
|
{0xEA, 2, 24, .check_relay = true}, /* MDPS support frame */ \
|
||||||
|
|
||||||
#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_ALT_BUTTONS_TX_MSGS(longitudinal) \
|
|
||||||
HYUNDAI_CANFD_ALT_CRUISE_BUTTON_TX_MSGS(2) \
|
|
||||||
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
|
|
||||||
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
|
|
||||||
{0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
|
|
||||||
{0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
|
|
||||||
{0x7C4, 2, 8, .check_relay = true}, /* camera support frame */ \
|
|
||||||
{0xEA, 2, 24, .check_relay = true}, /* MDPS support frame */ \
|
|
||||||
|
|
||||||
hyundai_common_init(param);
|
hyundai_common_init(param);
|
||||||
|
|
||||||
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
|
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
|
||||||
@@ -540,19 +527,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
|||||||
|
|
||||||
if (hyundai_camera_scc) {
|
if (hyundai_camera_scc) {
|
||||||
if (hyundai_ccnc) {
|
if (hyundai_ccnc) {
|
||||||
if (hyundai_canfd_alt_buttons) {
|
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
|
||||||
static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_alt_buttons_tx_msgs[] = {
|
|
||||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_ALT_BUTTONS_TX_MSGS(true)
|
|
||||||
};
|
|
||||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_alt_buttons_tx_msgs, ret);
|
|
||||||
} else {
|
|
||||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
|
|
||||||
}
|
|
||||||
} else if (hyundai_canfd_alt_buttons) {
|
|
||||||
static CanMsg hyundai_canfd_lfa_steering_camera_scc_alt_buttons_tx_msgs[] = {
|
|
||||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_ALT_BUTTONS_TX_MSGS(true)
|
|
||||||
};
|
|
||||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_alt_buttons_tx_msgs, ret);
|
|
||||||
} else {
|
} else {
|
||||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||||
}
|
}
|
||||||
@@ -580,7 +555,9 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
|||||||
} else {
|
} else {
|
||||||
SET_RX_CHECKS(hyundai_canfd_lka_steering_rx_checks, ret);
|
SET_RX_CHECKS(hyundai_canfd_lka_steering_rx_checks, ret);
|
||||||
}
|
}
|
||||||
if (hyundai_canfd_lka_steering_alt) {
|
if (hyundai_ccnc && hyundai_canfd_angle_steering && hyundai_canfd_lka_steering_alt) {
|
||||||
|
SET_TX_MSGS(HYUNDAI_CANFD_CCNC_ANGLE_FALLBACK_TX_MSGS, ret);
|
||||||
|
} else if (hyundai_canfd_lka_steering_alt) {
|
||||||
if (hyundai_canfd_alt_buttons) {
|
if (hyundai_canfd_alt_buttons) {
|
||||||
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_ALT_BUTTONS_TX_MSGS, ret);
|
SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_ALT_BUTTONS_TX_MSGS, ret);
|
||||||
} else {
|
} else {
|
||||||
@@ -636,22 +613,8 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
|||||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
|
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
|
||||||
};
|
};
|
||||||
|
|
||||||
static CanMsg hyundai_canfd_lfa_steering_camera_scc_alt_buttons_tx_msgs[] = {
|
|
||||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_ALT_BUTTONS_TX_MSGS(false)
|
|
||||||
};
|
|
||||||
|
|
||||||
static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_alt_buttons_tx_msgs[] = {
|
|
||||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_ALT_BUTTONS_TX_MSGS(false)
|
|
||||||
};
|
|
||||||
|
|
||||||
if (hyundai_ccnc) {
|
if (hyundai_ccnc) {
|
||||||
if (hyundai_canfd_alt_buttons) {
|
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
|
||||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_alt_buttons_tx_msgs, ret);
|
|
||||||
} else {
|
|
||||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
|
|
||||||
}
|
|
||||||
} else if (hyundai_canfd_alt_buttons) {
|
|
||||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_alt_buttons_tx_msgs, ret);
|
|
||||||
} else {
|
} else {
|
||||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -41,7 +41,6 @@
|
|||||||
#define MSG_SUBARU_ES_HighBeamAssist 0x121U
|
#define MSG_SUBARU_ES_HighBeamAssist 0x121U
|
||||||
#define MSG_SUBARU_ES_STATIC_1 0x22aU
|
#define MSG_SUBARU_ES_STATIC_1 0x22aU
|
||||||
#define MSG_SUBARU_ES_STATIC_2 0x325U
|
#define MSG_SUBARU_ES_STATIC_2 0x325U
|
||||||
#define MSG_SUBARU_Dashlights 0x390U
|
|
||||||
|
|
||||||
#define SUBARU_MAIN_BUS 0U
|
#define SUBARU_MAIN_BUS 0U
|
||||||
#define SUBARU_ALT_BUS 1U
|
#define SUBARU_ALT_BUS 1U
|
||||||
@@ -62,9 +61,6 @@
|
|||||||
{MSG_SUBARU_ES_LKAS_State, bus, 8, .check_relay = true}, \
|
{MSG_SUBARU_ES_LKAS_State, bus, 8, .check_relay = true}, \
|
||||||
{MSG_SUBARU_ES_Infotainment, bus, 8, .check_relay = true}, \
|
{MSG_SUBARU_ES_Infotainment, bus, 8, .check_relay = true}, \
|
||||||
|
|
||||||
#define SUBARU_STOP_START_TX_MSGS(bus) \
|
|
||||||
{MSG_SUBARU_Dashlights, bus, 8, .check_relay = false}, \
|
|
||||||
|
|
||||||
#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
|
#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
|
||||||
{MSG_SUBARU_ES_Distance, alt_bus, 8, .check_relay = true}, \
|
{MSG_SUBARU_ES_Distance, alt_bus, 8, .check_relay = true}, \
|
||||||
{MSG_SUBARU_ES_Brake, alt_bus, 8, .check_relay = true}, \
|
{MSG_SUBARU_ES_Brake, alt_bus, 8, .check_relay = true}, \
|
||||||
@@ -112,7 +108,6 @@ static bool subaru_stop_and_go = false;
|
|||||||
static bool subaru_lkas_angle = false;
|
static bool subaru_lkas_angle = false;
|
||||||
static bool subaru_d_platform = false;
|
static bool subaru_d_platform = false;
|
||||||
static bool subaru_fixed_angle_limits = false;
|
static bool subaru_fixed_angle_limits = false;
|
||||||
static bool subaru_stop_start_button = false;
|
|
||||||
|
|
||||||
static uint32_t subaru_get_checksum(const CANPacket_t *msg) {
|
static uint32_t subaru_get_checksum(const CANPacket_t *msg) {
|
||||||
return (uint8_t)msg->data[0];
|
return (uint8_t)msg->data[0];
|
||||||
@@ -290,13 +285,6 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
|
|||||||
violation |= !(is_tester_present || is_button_rdbi);
|
violation |= !(is_tester_present || is_button_rdbi);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (msg->addr == MSG_SUBARU_Dashlights) {
|
|
||||||
violation |= !subaru_stop_start_button;
|
|
||||||
violation |= msg->bus != SUBARU_ALT_BUS;
|
|
||||||
violation |= !GET_BIT(msg, 54U);
|
|
||||||
violation |= subaru_get_checksum(msg) != subaru_compute_checksum(msg);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (violation){
|
if (violation){
|
||||||
tx = false;
|
tx = false;
|
||||||
}
|
}
|
||||||
@@ -346,12 +334,6 @@ static safety_config subaru_init(uint16_t param) {
|
|||||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
||||||
};
|
};
|
||||||
|
|
||||||
static const CanMsg SUBARU_D_PLATFORM_ANGLE_STOP_START_MAIN_TX_MSGS[] = {
|
|
||||||
SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_MAIN_BUS)
|
|
||||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
|
||||||
SUBARU_STOP_START_TX_MSGS(SUBARU_ALT_BUS)
|
|
||||||
};
|
|
||||||
|
|
||||||
static const CanMsg SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS[] = {
|
static const CanMsg SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS[] = {
|
||||||
SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_CAM_BUS)
|
SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_CAM_BUS)
|
||||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
||||||
@@ -396,9 +378,6 @@ static safety_config subaru_init(uint16_t param) {
|
|||||||
const uint16_t SUBARU_PARAM_FIXED_ANGLE_LIMITS = 128;
|
const uint16_t SUBARU_PARAM_FIXED_ANGLE_LIMITS = 128;
|
||||||
subaru_fixed_angle_limits = GET_FLAG(param, SUBARU_PARAM_FIXED_ANGLE_LIMITS);
|
subaru_fixed_angle_limits = GET_FLAG(param, SUBARU_PARAM_FIXED_ANGLE_LIMITS);
|
||||||
|
|
||||||
const uint16_t SUBARU_PARAM_STOP_START_BUTTON = 256;
|
|
||||||
subaru_stop_start_button = GET_FLAG(param, SUBARU_PARAM_STOP_START_BUTTON);
|
|
||||||
|
|
||||||
#ifdef ALLOW_DEBUG
|
#ifdef ALLOW_DEBUG
|
||||||
const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
|
const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
|
||||||
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
|
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
|
||||||
@@ -406,9 +385,8 @@ static safety_config subaru_init(uint16_t param) {
|
|||||||
|
|
||||||
safety_config ret;
|
safety_config ret;
|
||||||
if (subaru_lkas_angle) {
|
if (subaru_lkas_angle) {
|
||||||
ret = subaru_d_platform ? (subaru_stop_start_button ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_STOP_START_MAIN_TX_MSGS) : \
|
ret = subaru_d_platform ? (subaru_d_platform_camera ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS) : \
|
||||||
(subaru_d_platform_camera ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS) : \
|
BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS)) : \
|
||||||
BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS))) : \
|
|
||||||
subaru_gen2 ? BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_TX_MSGS) : \
|
subaru_gen2 ? BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_TX_MSGS) : \
|
||||||
BUILD_SAFETY_CFG(subaru_lkas_angle_rx_checks, SUBARU_LKAS_ANGLE_TX_MSGS);
|
BUILD_SAFETY_CFG(subaru_lkas_angle_rx_checks, SUBARU_LKAS_ANGLE_TX_MSGS);
|
||||||
} else if (subaru_gen2) {
|
} else if (subaru_gen2) {
|
||||||
|
|||||||
@@ -1075,14 +1075,13 @@ class SafetyTest(SafetyTestBase):
|
|||||||
continue
|
continue
|
||||||
if attr.startswith('TestSubaruGen') and current_test.startswith('TestSubaruGen'):
|
if attr.startswith('TestSubaruGen') and current_test.startswith('TestSubaruGen'):
|
||||||
continue
|
continue
|
||||||
if attr.startswith('TestSubaruDPlatform') and current_test.startswith('TestSubaruDPlatform'):
|
if 'TestSubaruDPlatformAngleSafety' in {attr, current_test} and \
|
||||||
|
'Angle' in attr and 'Angle' in current_test:
|
||||||
continue
|
continue
|
||||||
if attr.startswith('TestSubaruDPlatform'):
|
if 'TestSubaruDPlatformAngleSafety' in {attr, current_test}:
|
||||||
# D-platform uses the same main-bus HUD messages as the other
|
# D-platform uses the same main-bus HUD messages as the other
|
||||||
# Subaru modes, so those modes cannot be distinguished by ID.
|
# Subaru modes, so those modes cannot be distinguished by ID.
|
||||||
tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x124, 0x321, 0x322, 0x323]), tx))
|
tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x321, 0x322, 0x323]), tx))
|
||||||
if current_test.startswith('TestSubaruDPlatform') and attr.startswith('TestSubaruGen'):
|
|
||||||
tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x124, 0x321, 0x322, 0x323]), tx))
|
|
||||||
if attr.startswith('TestSubaruPreglobal') and current_test.startswith('TestSubaruPreglobal'):
|
if attr.startswith('TestSubaruPreglobal') and current_test.startswith('TestSubaruPreglobal'):
|
||||||
continue
|
continue
|
||||||
if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
|
if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
|
||||||
|
|||||||
@@ -59,28 +59,6 @@ def test_gm_panda_scheduler_paths():
|
|||||||
safety.safety_rx_hook(prndl)
|
safety.safety_rx_hook(prndl)
|
||||||
|
|
||||||
|
|
||||||
def test_gm_cc_longitudinal_ascm_safety_whitelist():
|
|
||||||
safety = libsafety_py.libsafety
|
|
||||||
flags = (GMSafetyFlags.FLAG_GM_NO_CAMERA | GMSafetyFlags.FLAG_GM_NO_ACC |
|
|
||||||
GMSafetyFlags.FLAG_GM_CC_LONG | GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY)
|
|
||||||
assert safety.set_safety_hooks(CarParams.SafetyModel.gm, flags) == 0
|
|
||||||
safety.init_tests()
|
|
||||||
safety.set_controls_allowed(True)
|
|
||||||
safety.set_cruise_engaged_prev(True)
|
|
||||||
|
|
||||||
allowed = ((0x180, 0, 4), (0x409, 0, 7), (0x40A, 0, 7), (0x370, 0, 6),
|
|
||||||
(0x1E1, 0, 7), (0x3D1, 0, 8), (0xBD, 0, 7), (0x1F5, 0, 8))
|
|
||||||
for addr, bus, length in allowed:
|
|
||||||
data = b'\x00' * length
|
|
||||||
if addr == 0x1E1:
|
|
||||||
data = data[:5] + b'\x10' + data[6:]
|
|
||||||
assert safety.safety_tx_hook(common.make_msg(bus, addr, length, data))
|
|
||||||
|
|
||||||
blocked = ((0x184, 2, 8), (0x200, 0, 6), (0x2CB, 0, 8), (0x306, 1, 8))
|
|
||||||
for addr, bus, length in blocked:
|
|
||||||
assert not safety.safety_tx_hook(common.make_msg(bus, addr, length))
|
|
||||||
|
|
||||||
|
|
||||||
def test_gm_bolt_acc_pedal_clears_stock_cruise():
|
def test_gm_bolt_acc_pedal_clears_stock_cruise():
|
||||||
safety = libsafety_py.libsafety
|
safety = libsafety_py.libsafety
|
||||||
flags = GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR | GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL
|
flags = GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR | GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL
|
||||||
|
|||||||
@@ -622,7 +622,7 @@ class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
|
|||||||
STEER_BUS = 0
|
STEER_BUS = 0
|
||||||
BUTTONS_BUS = 0
|
BUTTONS_BUS = 0
|
||||||
|
|
||||||
TX_MSGS = [[0xE4, 0], [0x296, 0], [0x296, 2], [0x33D, 0]]
|
TX_MSGS = [[0xE4, 0], [0x296, 0], [0x33D, 0]]
|
||||||
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
|
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
|
||||||
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}
|
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}
|
||||||
|
|
||||||
@@ -630,73 +630,17 @@ class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
|
|||||||
self.packer = CANPackerSafety("honda_common_canfd_generated")
|
self.packer = CANPackerSafety("honda_common_canfd_generated")
|
||||||
self.safety = libsafety_py.libsafety
|
self.safety = libsafety_py.libsafety
|
||||||
|
|
||||||
def test_buttons_fwd(self):
|
|
||||||
self.safety.set_controls_allowed(True)
|
|
||||||
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
|
|
||||||
|
|
||||||
self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
|
|
||||||
self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
|
|
||||||
|
|
||||||
self.safety.set_controls_allowed(False)
|
|
||||||
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
|
|
||||||
|
|
||||||
self.safety.set_controls_allowed(True)
|
|
||||||
for _ in range(10):
|
|
||||||
self._rx(self._button_msg(Btn.NONE, main_on=True))
|
|
||||||
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
|
|
||||||
|
|
||||||
def test_radar_diag_response_fwd(self):
|
|
||||||
self.safety.set_controls_allowed(False)
|
|
||||||
self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x18DAF1B0))
|
|
||||||
self.safety.set_controls_allowed(True)
|
|
||||||
self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x18DAF1B0))
|
|
||||||
|
|
||||||
def test_buttons_tx_camera_bus(self):
|
|
||||||
self.safety.set_controls_allowed(0)
|
|
||||||
self.assertTrue(self._tx(self._button_msg(Btn.CANCEL, bus=2)))
|
|
||||||
self.assertFalse(self._tx(self._button_msg(Btn.RESUME, bus=2)))
|
|
||||||
self.assertFalse(self._tx(self._button_msg(Btn.SET, bus=2)))
|
|
||||||
self.safety.set_controls_allowed(1)
|
|
||||||
self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
|
|
||||||
self.assertTrue(self._tx(self._button_msg(Btn.RESUME, bus=2)))
|
|
||||||
|
|
||||||
|
|
||||||
class TestHondaBoschCANFDSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase):
|
class TestHondaBoschCANFDSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase):
|
||||||
"""
|
"""
|
||||||
Covers the Honda Bosch CANFD safety mode with stock longitudinal
|
Covers the Honda Bosch CANFD safety mode with stock longitudinal
|
||||||
"""
|
"""
|
||||||
|
|
||||||
def setUp(self):
|
|
||||||
super().setUp()
|
|
||||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.BOSCH_CANFD_MVL)
|
|
||||||
self.safety.init_tests()
|
|
||||||
|
|
||||||
|
|
||||||
class TestHondaBoschCANFDGenericSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase):
|
|
||||||
"""Non-MVL CAN-FD Hondas retain the original narrow TX profile."""
|
|
||||||
|
|
||||||
TX_MSGS = [[0xE4, 0], [0x296, 0], [0x33D, 0]]
|
|
||||||
|
|
||||||
def setUp(self):
|
def setUp(self):
|
||||||
super().setUp()
|
super().setUp()
|
||||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD)
|
self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD)
|
||||||
self.safety.init_tests()
|
self.safety.init_tests()
|
||||||
|
|
||||||
def test_mvl_messages_are_not_whitelisted(self):
|
|
||||||
self.safety.set_controls_allowed(True)
|
|
||||||
self.assertFalse(self._tx(self._button_msg(Btn.NONE, bus=2)))
|
|
||||||
for addr in (0x310, 0x6CD5558, 0xF31AA52, 0x1A45AA4E):
|
|
||||||
self.assertFalse(self._tx(libsafety_py.make_CANPacket(addr, 0, bytes(8))))
|
|
||||||
|
|
||||||
def test_buttons_fwd(self):
|
|
||||||
pass
|
|
||||||
|
|
||||||
def test_radar_diag_response_fwd(self):
|
|
||||||
pass
|
|
||||||
|
|
||||||
def test_buttons_tx_camera_bus(self):
|
|
||||||
pass
|
|
||||||
|
|
||||||
|
|
||||||
class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase, TestHondaBoschAltBrakeSafetyBase):
|
class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase, TestHondaBoschAltBrakeSafetyBase):
|
||||||
"""
|
"""
|
||||||
@@ -705,7 +649,7 @@ class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDS
|
|||||||
|
|
||||||
def setUp(self):
|
def setUp(self):
|
||||||
super().setUp()
|
super().setUp()
|
||||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.BOSCH_CANFD_MVL | HondaSafetyFlags.ALT_BRAKE)
|
self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.ALT_BRAKE)
|
||||||
self.safety.init_tests()
|
self.safety.init_tests()
|
||||||
|
|
||||||
|
|
||||||
@@ -718,29 +662,14 @@ class TestHondaBoschCANFDLongSafety(TestHondaBoschLongSafety, TestHondaBoschCANF
|
|||||||
STEER_BUS = 0
|
STEER_BUS = 0
|
||||||
BUTTONS_BUS = 0
|
BUTTONS_BUS = 0
|
||||||
|
|
||||||
TX_MSGS = [[0xE4, 0], [0x1DF, 0], [0x1EF, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0], [0x296, 2], [0x18DAB0F1, 0], [0x310, 0], [0x310, 2]]
|
TX_MSGS = [[0xE4, 0], [0x1DF, 0], [0x1EF, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0], [0x18DAB0F1, 0]]
|
||||||
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x1DF, 0x33D]}
|
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
|
||||||
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1DF, 0x33D)}
|
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}
|
||||||
|
|
||||||
def setUp(self):
|
def setUp(self):
|
||||||
super().setUp()
|
super().setUp()
|
||||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.BOSCH_CANFD_MVL | HondaSafetyFlags.BOSCH_LONG)
|
self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.BOSCH_LONG)
|
||||||
self.safety.init_tests()
|
self.safety.init_tests()
|
||||||
|
|
||||||
def test_diagnostics(self):
|
|
||||||
tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
|
|
||||||
self.assertTrue(self._tx(tester_present))
|
|
||||||
ext_diag = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x00")
|
|
||||||
self.assertTrue(self._tx(ext_diag))
|
|
||||||
comm_control_disable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x83\x03\x00\x00\x00\x00")
|
|
||||||
self.assertTrue(self._tx(comm_control_disable))
|
|
||||||
|
|
||||||
comm_control_enable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x80\x03\x00\x00\x00\x00")
|
|
||||||
self.assertFalse(self._tx(comm_control_enable))
|
|
||||||
not_tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\xAA\xAA\x00\x00\x00\x00\x00")
|
|
||||||
self.assertFalse(self._tx(not_tester_present))
|
|
||||||
trailing_bytes = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x01")
|
|
||||||
self.assertFalse(self._tx(trailing_bytes))
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
if __name__ == "__main__":
|
||||||
unittest.main()
|
unittest.main()
|
||||||
|
|||||||
@@ -459,45 +459,12 @@ class TestHyundaiCanfdAltButtonFlagIsolation(unittest.TestCase):
|
|||||||
self.safety.safety_rx_hook(self._button_msg(lka=True))
|
self.safety.safety_rx_hook(self._button_msg(lka=True))
|
||||||
self.safety.safety_rx_hook(self._button_msg())
|
self.safety.safety_rx_hook(self._button_msg())
|
||||||
self.assertTrue(self.safety.get_lkas_on())
|
self.assertTrue(self.safety.get_lkas_on())
|
||||||
|
|
||||||
self.safety.safety_rx_hook(self._button_msg(main=True))
|
self.safety.safety_rx_hook(self._button_msg(main=True))
|
||||||
self.safety.safety_rx_hook(self._button_msg())
|
self.safety.safety_rx_hook(self._button_msg())
|
||||||
self.assertTrue(self.safety.get_lkas_on())
|
self.assertTrue(self.safety.get_lkas_on())
|
||||||
|
|
||||||
|
|
||||||
class TestHyundaiCanfdCcncAltButtonResume(unittest.TestCase):
|
|
||||||
TX_MSGS = [[0x1AA, 2]]
|
|
||||||
|
|
||||||
def setUp(self):
|
|
||||||
self.packer = CANPackerSafety("hyundai_canfd_generated")
|
|
||||||
self.safety = libsafety_py.libsafety
|
|
||||||
self.safety.set_safety_hooks(
|
|
||||||
CarParams.SafetyModel.hyundaiCanfd,
|
|
||||||
HyundaiSafetyFlags.CCNC | HyundaiSafetyFlags.CAMERA_SCC | HyundaiSafetyFlags.CANFD_ALT_BUTTONS,
|
|
||||||
)
|
|
||||||
self.safety.init_tests()
|
|
||||||
|
|
||||||
def _resume_msg(self):
|
|
||||||
return self.packer.make_can_msg_safety(
|
|
||||||
"CRUISE_BUTTONS_ALT", 2, {"CRUISE_BUTTONS": Buttons.RESUME},
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_resume_allowed_only_when_controls_are_allowed(self):
|
|
||||||
self.safety.set_controls_allowed(True)
|
|
||||||
self.assertTrue(self.safety.safety_tx_hook(self._resume_msg()))
|
|
||||||
|
|
||||||
self.safety.set_controls_allowed(False)
|
|
||||||
self.assertFalse(self.safety.safety_tx_hook(self._resume_msg()))
|
|
||||||
|
|
||||||
def test_alternate_button_frame_is_blocked_without_flag(self):
|
|
||||||
self.safety.set_safety_hooks(
|
|
||||||
CarParams.SafetyModel.hyundaiCanfd,
|
|
||||||
HyundaiSafetyFlags.CCNC | HyundaiSafetyFlags.CAMERA_SCC,
|
|
||||||
)
|
|
||||||
self.safety.init_tests()
|
|
||||||
self.safety.set_controls_allowed(True)
|
|
||||||
self.assertFalse(self.safety.safety_tx_hook(self._resume_msg()))
|
|
||||||
|
|
||||||
|
|
||||||
class TestHyundaiCanfdCCNCSupportFrames(common.SafetyTestBase):
|
class TestHyundaiCanfdCCNCSupportFrames(common.SafetyTestBase):
|
||||||
TX_MSGS = [[0x161, 0], [0x162, 0], [0x7C4, 2], [0xEA, 2]]
|
TX_MSGS = [[0x161, 0], [0x162, 0], [0x7C4, 2], [0xEA, 2]]
|
||||||
|
|
||||||
@@ -826,19 +793,12 @@ class TestHyundaiCanfdLKASteeringAltAngleLongEV(HyundaiLongitudinalBase, TestHyu
|
|||||||
with self.subTest(address=address):
|
with self.subTest(address=address):
|
||||||
self.assertFalse(self._tx(common.make_msg(1 if address != 0x51 else 0, address, length)))
|
self.assertFalse(self._tx(common.make_msg(1 if address != 0x51 else 0, address, length)))
|
||||||
|
|
||||||
def test_ccnc_angle_fallback_allows_lateral_only(self):
|
def test_ccnc_angle_fallback_allows_lfa_status_without_longitudinal_control(self):
|
||||||
fallback_param = (self.SAFETY_PARAM & ~HyundaiSafetyFlags.LONG) | HyundaiSafetyFlags.CCNC
|
fallback_param = (self.SAFETY_PARAM & ~HyundaiSafetyFlags.LONG) | HyundaiSafetyFlags.CCNC
|
||||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, fallback_param)
|
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, fallback_param)
|
||||||
self.safety.init_tests()
|
self.safety.init_tests()
|
||||||
|
|
||||||
self._rx(self._gear_msg(5))
|
self.assertTrue(self._tx(common.make_msg(1, 0x12A, 16)))
|
||||||
self._reset_speed_measurement(self.STANDSTILL_THRESHOLD + 1)
|
|
||||||
self._reset_angle_measurement(0)
|
|
||||||
self._set_prev_desired_angle(0)
|
|
||||||
self.safety.set_controls_allowed(True)
|
|
||||||
|
|
||||||
self.assertTrue(self._tx(self._angle_cmd_msg(0, enabled=True)))
|
|
||||||
self.assertFalse(self._tx(common.make_msg(1, 0x12A, 16)))
|
|
||||||
self.assertFalse(self._tx(common.make_msg(1, 0x1A0, 32)))
|
self.assertFalse(self._tx(common.make_msg(1, 0x1A0, 32)))
|
||||||
|
|
||||||
def test_ccnc_angle_long_uses_second_mdps_angle(self):
|
def test_ccnc_angle_long_uses_second_mdps_angle(self):
|
||||||
|
|||||||
@@ -36,7 +36,6 @@ class SubaruMsg(enum.IntEnum):
|
|||||||
ES_HighBeamAssist = 0x121
|
ES_HighBeamAssist = 0x121
|
||||||
ES_STATIC_1 = 0x22a
|
ES_STATIC_1 = 0x22a
|
||||||
ES_STATIC_2 = 0x325
|
ES_STATIC_2 = 0x325
|
||||||
Dashlights = 0x390
|
|
||||||
|
|
||||||
|
|
||||||
SUBARU_MAIN_BUS = 0
|
SUBARU_MAIN_BUS = 0
|
||||||
@@ -402,21 +401,6 @@ class TestSubaruDPlatformAngleSafety(TestSubaruStockLongitudinalSafetyBase, Test
|
|||||||
return self.packer.make_can_msg_safety("Steering_2", SUBARU_MAIN_BUS, {"Steering_Angle": angle})
|
return self.packer.make_can_msg_safety("Steering_2", SUBARU_MAIN_BUS, {"Steering_Angle": angle})
|
||||||
|
|
||||||
|
|
||||||
class TestSubaruDPlatformStopStartSafety(TestSubaruDPlatformAngleSafety):
|
|
||||||
FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | \
|
|
||||||
SubaruSafetyFlags.STOP_START_BUTTON
|
|
||||||
TX_MSGS = TestSubaruDPlatformAngleSafety.TX_MSGS + [[SubaruMsg.Dashlights, SUBARU_ALT_BUS]]
|
|
||||||
|
|
||||||
def _stop_start_msg(self, pressed):
|
|
||||||
return self.packer.make_can_msg_safety(
|
|
||||||
"Dashlights", SUBARU_ALT_BUS, {"COUNTER": 0, "STOP_START": pressed},
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_stop_start_tx_requires_pressed_bit(self):
|
|
||||||
self.assertTrue(self._tx(self._stop_start_msg(True)))
|
|
||||||
self.assertFalse(self._tx(self._stop_start_msg(False)))
|
|
||||||
|
|
||||||
|
|
||||||
class TestSubaruDPlatformCameraAngleSafety(TestSubaruDPlatformAngleSafety):
|
class TestSubaruDPlatformCameraAngleSafety(TestSubaruDPlatformAngleSafety):
|
||||||
FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | SubaruSafetyFlags.D_PLATFORM_CAMERA
|
FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | SubaruSafetyFlags.D_PLATFORM_CAMERA
|
||||||
TX_MSGS = [[SubaruMsg.ES_LKAS_ANGLE, SUBARU_CAM_BUS],
|
TX_MSGS = [[SubaruMsg.ES_LKAS_ANGLE, SUBARU_CAM_BUS],
|
||||||
|
|||||||
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@@ -1,2 +1,2 @@
|
|||||||
extern const uint8_t gitversion[19];
|
extern const uint8_t gitversion[19];
|
||||||
const uint8_t gitversion[19] = "DEV-af2e153e-DEBUG";
|
const uint8_t gitversion[19] = "DEV-e28f72c6-DEBUG";
|
||||||
|
|||||||
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user