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@@ -0,0 +1,6 @@
|
||||
github: firestar5683
|
||||
patreon: firestar4430
|
||||
custom:
|
||||
- "https://cash.app/$domkthompson"
|
||||
- "https://account.venmo.com/u/firestar4430"
|
||||
- "https://www.paypal.com/paypalme/firestar4430"
|
||||
+11
-3
@@ -1,3 +1,5 @@
|
||||
import subprocess
|
||||
|
||||
Import('env', 'common', 'msgq')
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
@@ -5,9 +7,15 @@ gen_dir = Dir('gen')
|
||||
|
||||
# Build cereal
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
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||||
schema_outputs = env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
# capnpc embeds an exact compiler-version guard in every generated C++ header.
|
||||
# Include the tool version in the dependency signature so SCons cannot reuse
|
||||
# generated headers from a cache populated by another AGNOS/toolchain version.
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capnp_compiler_version = subprocess.check_output(['capnpc', '--version'], encoding='utf-8').strip()
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env.Depends(schema_outputs, env.Value(capnp_compiler_version))
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||||
|
||||
cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
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|
||||
@@ -98,6 +98,7 @@ struct StarPilotCarState @0xf35cc4560bbf6ec2 {
|
||||
teslaCCNotArmed @27 :Bool; # lateral engaged but DI_cruiseState != STANDBY/ENABLED
|
||||
accelHardCruise @28 :Bool; # current/releasing accel cruise button came from GM hard-press signal
|
||||
decelHardCruise @29 :Bool; # current/releasing decel cruise button came from GM hard-press signal
|
||||
pulseAndGlide @30 :Bool; # developer-only wheel-button pulse-and-glide mode is enabled
|
||||
}
|
||||
|
||||
struct StarPilotDeviceState @0xda96579883444c35 {
|
||||
@@ -219,6 +220,7 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
|
||||
disableThrottle @35 :Bool;
|
||||
trackingLead @36 :Bool;
|
||||
stopSignConfirmed @37 :Bool;
|
||||
pulseGlideCoasting @38 :Bool; # developer-only P&G phase for on-road status UI
|
||||
}
|
||||
|
||||
struct StarPilotRadarState @0xb86e6369214c01c8 {
|
||||
|
||||
Binary file not shown.
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+38
-5
@@ -472,6 +472,10 @@ struct CanData {
|
||||
struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
deviceType @45 :InitData.DeviceType;
|
||||
|
||||
# usb
|
||||
chestnutPresent @51 :Bool;
|
||||
usbState @52 :UsbState;
|
||||
|
||||
networkType @22 :NetworkType;
|
||||
networkInfo @31 :NetworkInfo;
|
||||
networkStrength @24 :NetworkStrength;
|
||||
@@ -503,7 +507,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
pmicTempC @39 :List(Float32);
|
||||
intakeTempC @46 :Float32;
|
||||
exhaustTempC @47 :Float32;
|
||||
caseTempC @48 :Float32;
|
||||
gnssTempC @48 :Float32;
|
||||
bottomSocTempC @50 :Float32;
|
||||
maxTempC @44 :Float32; # max of other temps, used to control fan
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
@@ -517,10 +522,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
}
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0;
|
||||
yellow @1;
|
||||
red @2;
|
||||
danger @3;
|
||||
ok @0;
|
||||
warmDEPRECATED @1;
|
||||
overheated @2;
|
||||
critical @3;
|
||||
}
|
||||
|
||||
enum NetworkType {
|
||||
@@ -736,6 +741,28 @@ struct PeripheralState {
|
||||
}
|
||||
}
|
||||
|
||||
struct UsbState {
|
||||
devices @0 :List(Device);
|
||||
|
||||
struct Device {
|
||||
busnum @0 :UInt8;
|
||||
devnum @1 :UInt8;
|
||||
vendorId @2 :UInt16;
|
||||
productId @3 :UInt16;
|
||||
speedMbps @4 :UInt16;
|
||||
manufacturer @6 :Text;
|
||||
product @5 :Text;
|
||||
linkErrorCount @7 :UInt16;
|
||||
usb3Lane @8 :Usb3Lane;
|
||||
|
||||
enum Usb3Lane {
|
||||
unknown @0;
|
||||
a @1;
|
||||
b @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct ChestnutState {
|
||||
tempC @0 :Float32;
|
||||
memoryTempC @1 :Float32;
|
||||
@@ -1300,6 +1327,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
|
||||
solverExecutionTime @35 :Float32;
|
||||
|
||||
leadTrajectoryX0 @40 :List(Float32);
|
||||
leadTrajectoryV0 @41 :List(Float32);
|
||||
leadTrajectoryX1 @42 :List(Float32);
|
||||
leadTrajectoryV1 @43 :List(Float32);
|
||||
|
||||
enum LongitudinalPlanSource {
|
||||
cruise @0;
|
||||
lead0 @1;
|
||||
@@ -2725,6 +2757,7 @@ struct Event {
|
||||
userBookmark @93 :UserBookmark;
|
||||
bookmarkButton @148 :UserBookmark;
|
||||
audioFeedback @149 :AudioFeedback;
|
||||
visionSpeedLimitBookmark @153 :UserBookmark;
|
||||
|
||||
lateralManeuverPlan @150 :LateralManeuverPlan;
|
||||
# *********** debug ***********
|
||||
|
||||
Binary file not shown.
@@ -69,6 +69,7 @@ static std::map<std::string, service> services = {
|
||||
{ "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
|
||||
{ "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
|
||||
{ "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
|
||||
{ "visionSpeedLimitBookmark", {"visionSpeedLimitBookmark", false, 0.000000, 1, 256000}},
|
||||
{ "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
|
||||
{ "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},
|
||||
|
||||
@@ -86,6 +86,7 @@ _services: dict[str, tuple] = {
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
"visionSpeedLimitBookmark": (False, 0., 1),
|
||||
"roadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"driverEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
|
||||
Binary file not shown.
@@ -66,6 +66,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
|
||||
{"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
|
||||
{"HondaWindFactorParams", {PERSISTENT, FLOAT}},
|
||||
{"HomeScreenName", {PERSISTENT, STRING, "StarPilot", "StarPilot", 3}},
|
||||
{"InstallDate", {PERSISTENT, TIME}},
|
||||
{"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"IsEngaged", {PERSISTENT, BOOL}},
|
||||
@@ -132,7 +133,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SentryModeCapture", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"SentryModeLastEvent", {PERSISTENT, JSON, "{}", "{}"}},
|
||||
{"SentryModeNtfyUrl", {PERSISTENT, STRING}},
|
||||
{"SentryModeSensitivity", {PERSISTENT, FLOAT, "0.04", "0.04", 0, SETTINGS_SIMPLE}},
|
||||
{"SentryModeStatus", {CLEAR_ON_MANAGER_START | DONT_LOG, JSON}},
|
||||
{"SentryModeWarningTime", {PERSISTENT, FLOAT, "1.0", "1.0", 0, SETTINGS_SIMPLE}},
|
||||
{"SentryModeWebhook", {PERSISTENT, STRING}},
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
|
||||
{"ShowDebugInfo", {PERSISTENT, BOOL}},
|
||||
@@ -520,6 +523,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"PreviousSpeedLimit", {PERSISTENT, FLOAT, "0.0", "0.0"}},
|
||||
{"PromptDistractedVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
|
||||
{"PromptVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
|
||||
{"PulseGlideSpeedDelta", {PERSISTENT, FLOAT, "5.0", "5.0", 3}},
|
||||
{"QOLLateral", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
|
||||
{"QOLLongitudinal", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
|
||||
{"QOLVisuals", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
|
||||
@@ -614,6 +618,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"VisionSpeedLimitAutoBookmark", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"VisionSpeedLimitAutoPreserveSegment", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "1", "0", 0}},
|
||||
{"VisionSpeedLimitLowLimitFilter", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"VisionSpeedLimitLowLimitThreshold", {PERSISTENT, INT, "25", "25", 0}},
|
||||
{"VisionSpeedLimitTrainingCollector", {PERSISTENT, BOOL, "1", "1", 0}},
|
||||
{"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
|
||||
{"StandardFollowHigh", {PERSISTENT, FLOAT, "1.2", "1.2", 2}},
|
||||
|
||||
Binary file not shown.
+186
-44
@@ -4,27 +4,79 @@
|
||||
|
||||
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.
|
||||
|
||||
# 326 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|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|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 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|MDX 2025|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
|
||||
|Acura|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 2017-19|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2017-19">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2020|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2020">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1</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</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX Hybrid 2017-19|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX Hybrid 2020|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Acura|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</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</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2022-26">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2015-17|Advance Package|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2015-17">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2018-20|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2018-20">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021|All|openpilot available[<sup>1</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</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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi|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>1,14</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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Buick|Baby Enclave 2020-23|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Baby Enclave 2020-23">Buy Here</a></sub></details>|||
|
||||
|Buick[<sup>3</sup>](#footnotes)|LaCrosse 2017-19|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse 2017-19">Buy Here</a></sub></details>|||
|
||||
|Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse ASCM Harness 2017-19">Buy Here</a></sub></details>|||
|
||||
|Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|Stock|3 mph|27 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse US ASCM Harness 2019">Buy Here</a></sub></details>|||
|
||||
|Buick[<sup>3</sup>](#footnotes)|Regal Essence 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Regal Essence 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac ATS Premium Performance 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac CT6 No-ACC 2016-20">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade 2017|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade 2017">Buy Here</a></sub></details>|||
|
||||
|Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ASCM Harness 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2016">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2019">Buy Here</a></sub></details>|||
|
||||
|Cadillac|Escalade ESV Platinum ASCM Harness 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV Platinum ASCM Harness 2019">Buy Here</a></sub></details>|||
|
||||
|Cadillac|XT4 2023|Driver Assist Package|Stock|0 mph|30 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 2023">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|30 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 No-ACC 2023">Buy Here</a></sub></details>|||
|
||||
|Cadillac|XT5 2022|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 2022">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 No-ACC 2022">Buy Here</a></sub></details>|||
|
||||
|Cadillac|XT6 2020|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT6 2020">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Blazer 2019-25|Driver Assist Package|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Blazer 2019-25">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV & EUV ACC 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV & EUV ACC w Pedal 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC w Pedal 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV & EUV No-ACC 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV No-ACC 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV No-ACC 2018-21|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Equinox No-ACC 2019-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox No-ACC 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu 2019|SDGM Harness (Optional SASCM)|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu 2019">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu ASCM Harness 2017-19">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Hybrid No-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu No-ACC 2023">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Malibu Premier 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Premier 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier 2016-20">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier No-ACC 2016-20">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer No-ACC 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Traverse 2022-23">Buy Here</a></sub></details>|||
|
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|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet TRAX 2024-25">Buy Here</a></sub></details>|||
|
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|Chevrolet[<sup>3</sup>](#footnotes)|Volt 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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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>|||
|
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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 Camera Harness 2017-18|Flashed camera-forward integration with ACC|openpilot available[<sup>1</sup>](#footnotes)|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt Camera Harness 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
|
||||
@@ -32,32 +84,37 @@ A supported vehicle is one that just works when you install a comma device. All
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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>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</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>|||
|
||||
|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>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Edge 2022|Co-Pilot360 Assist+|openpilot|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|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|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|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|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|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|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|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|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|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|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|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|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga 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|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|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|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|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|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|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Transit 2025">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
|
||||
@@ -69,14 +126,25 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV60 (Performance Trim) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified 2026">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 Coupe (with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Acadia 2018|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia ASCM Harness 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
|
||||
|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon 2019-20">Buy Here</a></sub></details>|||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon No-ACC 2019-20">Buy Here</a></sub></details>|||
|
||||
|Holden[<sup>3</sup>](#footnotes)|Astra 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Holden Astra 2017">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2016-17|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2016-17">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 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>|||
|
||||
|Honda|Accord Hybrid 2017|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2017">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|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>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</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>||
|
||||
@@ -87,13 +155,16 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|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 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 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</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|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</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit (Taiwan) 2021|All|openpilot available[<sup>1</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</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</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>|||
|
||||
@@ -102,10 +173,13 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|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|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|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>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|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</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|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
@@ -115,14 +189,20 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra Hybrid 2024-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2024-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 Hybrid 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 N (with HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai S connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 N (with HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 PE (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 9 (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -130,39 +210,62 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (without HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid (without HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (with HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Hybrid (with HDA II & LFA2) 2024-25|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Hybrid (without HDA II, LFA2) 2025-26|Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (without HDA II, LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Sonata (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid (with HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA I) 2025|Highway Driving Assist I|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA I) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV9 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV9 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|K4 (with HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K4 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
@@ -186,13 +289,20 @@ A supported vehicle is one that just works when you install a comma device. All
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||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage (without HDA II) 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage (without HDA II) 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Kia|XCeed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia XCeed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -222,28 +332,34 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|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 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)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1S 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|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>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>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2025|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2022-24|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru C connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2022-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|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>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|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>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|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>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>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
@@ -322,6 +438,11 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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>|||
|
||||
|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>|||
|
||||
|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>|||
|
||||
|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>|||
|
||||
|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>|||
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
@@ -339,6 +460,30 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
## StarPilot Community Cars
|
||||
|
||||
These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
|
||||
|
||||
# 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|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Bayon Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos Non-SCC 2023-24">Buy Here</a></sub></details>|||
|
||||
|Tesla|Model S (Pre-AP) 2012-14|All|Stock|0 mph|0 mph|[](##)|[](##)|None|||
|
||||
|Toyota|Matrix Retrofit 2005|Custom retrofit|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Matrix Retrofit 2005">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Prime 2021-23|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Prime 2021-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Sienna 2021-25|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2021-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Yaris (Non-US only) 2020, 2023|All|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Yaris (Non-US only) 2020, 2023">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
@@ -356,9 +501,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
# Don't see your car here?
|
||||
|
||||
**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
|
||||
@@ -400,4 +542,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
||||
* Toyota Camry 2025+
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
* Subaru Solterra 2023+
|
||||
+1
-1
@@ -21,7 +21,7 @@ fi
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="19.6.1"
|
||||
export AGNOS_VERSION="19.6.2"
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
# Support Information for 489 Known Cars
|
||||
# Support Information for 518 Known Cars
|
||||
|
||||
|Make|Model|Package|Support Level|
|
||||
|---|---|---|:---:|
|
||||
@@ -38,16 +38,26 @@
|
||||
|Audi|A5 2016-24|All|[Not compatible](#flexray)|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q5 2017-24|All|[Not compatible](#flexray)|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Buick|Baby Enclave 2020-23|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Buick|LaCrosse 2017-19|Driver Confidence Package 2|[Upstream](#upstream)|
|
||||
|Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Buick|Regal Essence 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade 2017|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|Cadillac|Escalade ESV Platinum ASCM Harness 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|Cadillac|XT4 2023|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Cadillac|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|XT5 2022|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Cadillac|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Cadillac|XT6 2020|Driver Assist Package|[Upstream](#upstream)|
|
||||
|Chevrolet|Blazer 2019-25|Driver Assist Package|[Upstream](#upstream)|
|
||||
@@ -62,13 +72,17 @@
|
||||
|Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Malibu Premier 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|
|
||||
|Chevrolet|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|TRAX 2024|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|[Upstream](#upstream)|
|
||||
|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|[Upstream](#upstream)|
|
||||
|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
@@ -79,8 +93,10 @@
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|comma|body|All|[Upstream](#upstream)|
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Edge 2022|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
@@ -92,8 +108,9 @@
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|Focus 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Focus Hybrid 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)|
|
||||
@@ -103,6 +120,7 @@
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
|
||||
|Ford|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Mustang Mach-E 2021-24|All|[Upstream](#upstream)|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Transit 2025|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
@@ -124,11 +142,13 @@
|
||||
|Genesis|GV80 2023|All|[Upstream](#upstream)|
|
||||
|Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
|
||||
|Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
|
||||
|GMC|Acadia 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|[Upstream](#upstream)|
|
||||
|GMC|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
|
||||
|GMC|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Holden|Astra 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Honda|Accord 2016-17|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Accord 2016-17|Honda Sensing|[Community](#community)|
|
||||
|Honda|Accord 2018-22|All|[Upstream](#upstream)|
|
||||
@@ -218,8 +238,8 @@
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
|
||||
|Hyundai|Nexo 2021|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2023-24|HDA2|[Community](#community)|
|
||||
|Hyundai|Palisade (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2023-25|HDA2|[Community](#community)|
|
||||
|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
@@ -353,7 +373,9 @@
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Rivian|R1S 2022-24|All|[Upstream](#upstream)|
|
||||
|Rivian|R1S 2025|All|[Upstream](#upstream)|
|
||||
|Rivian|R1T 2022-24|All|[Upstream](#upstream)|
|
||||
|Rivian|R1T 2025|All|[Upstream](#upstream)|
|
||||
|SEAT|Alhambra 2018-20|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -379,6 +401,8 @@
|
||||
|Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Kamiq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Karoq 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -474,6 +498,11 @@
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|
||||
@@ -55,7 +55,7 @@ class CAR(Platforms):
|
||||
|
||||
EXTRA_HYUNDAI = ExtraPlatformConfig(
|
||||
[
|
||||
CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
|
||||
CommunityCarDocs("Hyundai Palisade 2023-25", package="HDA2"),
|
||||
CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
|
||||
],
|
||||
)
|
||||
|
||||
@@ -54,10 +54,10 @@ class CarInterface(CarInterfaceBase):
|
||||
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
|
||||
ret.safetyConfigs = cfgs
|
||||
|
||||
ret.alphaLongitudinalAvailable = ret.radarUnavailable
|
||||
if alpha_long or not ret.radarUnavailable:
|
||||
ret.alphaLongitudinalAvailable = True
|
||||
ret.openpilotLongitudinalControl = bool(alpha_long)
|
||||
if ret.openpilotLongitudinalControl:
|
||||
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
|
||||
ret.openpilotLongitudinalControl = True
|
||||
|
||||
if ret.flags & FordFlags.CANFD:
|
||||
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
|
||||
|
||||
@@ -4,9 +4,11 @@ from collections.abc import Iterable
|
||||
from hypothesis import settings, given, strategies as st
|
||||
from parameterized import parameterized
|
||||
|
||||
from opendbc.car import gen_empty_fingerprint
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.fw_versions import build_fw_dict
|
||||
from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes, match_vin_to_car
|
||||
from opendbc.car.ford.interface import CarInterface
|
||||
from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, FordSafetyFlags, get_platform_codes, match_vin_to_car
|
||||
from opendbc.car.ford.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
@@ -154,3 +156,19 @@ class TestFordFW:
|
||||
live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
|
||||
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
|
||||
assert len(candidates) == 0, "Should not match new model year hint"
|
||||
|
||||
|
||||
def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
|
||||
stock = CarInterface.get_params(
|
||||
CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
enhanced = CarInterface.get_params(
|
||||
CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], True, False, False, None)
|
||||
|
||||
assert stock.alphaLongitudinalAvailable
|
||||
assert not stock.openpilotLongitudinalControl
|
||||
assert stock.pcmCruise
|
||||
assert not (stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL)
|
||||
|
||||
assert enhanced.alphaLongitudinalAvailable
|
||||
assert enhanced.openpilotLongitudinalControl
|
||||
assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL
|
||||
|
||||
@@ -132,11 +132,7 @@ class FordLKASteeringPlatformConfig(FordPlatformConfig):
|
||||
|
||||
@dataclass
|
||||
class FordF150LightningPlatform(FordCANFDPlatformConfig):
|
||||
def init(self):
|
||||
super().init()
|
||||
|
||||
# Don't show in docs until this issue is resolved. See https://github.com/commaai/openpilot/issues/30302
|
||||
self.car_docs = []
|
||||
pass
|
||||
|
||||
|
||||
MY_2020, MY_2021, MY_2022, MY_2023, MY_2024, MY_2025 = 'L', 'M', 'N', 'P', 'R', 'S'
|
||||
|
||||
@@ -110,8 +110,13 @@ class FwQueryConfig:
|
||||
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
|
||||
# returns set of candidates. Only will match if one candidate is returned
|
||||
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
|
||||
# Platforms whose shared firmware must be disambiguated by the brand fuzzy matcher.
|
||||
fuzzy_only_platforms: set[str] = field(default_factory=set)
|
||||
|
||||
def __post_init__(self):
|
||||
assert not self.fuzzy_only_platforms or self.match_fw_to_car_fuzzy is not None, \
|
||||
"Fuzzy-only platforms require a brand fuzzy matcher"
|
||||
|
||||
# Asserts that a request exists if extra ecus are used
|
||||
if len(self.extra_ecus):
|
||||
assert len(self.requests), "Must define a request with extra ecus"
|
||||
|
||||
@@ -111,7 +111,8 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N
|
||||
|
||||
invalid = set()
|
||||
candidates = {c: f for c, f in FW_VERSIONS.items() if
|
||||
is_brand(MODEL_TO_BRAND[c], match_brand)}
|
||||
is_brand(MODEL_TO_BRAND[c], match_brand) and
|
||||
c not in FW_QUERY_CONFIGS[MODEL_TO_BRAND[c]].fuzzy_only_platforms}
|
||||
|
||||
for candidate, fws in candidates.items():
|
||||
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
|
||||
|
||||
@@ -214,16 +214,12 @@ class GMPlatformConfig(PlatformConfig):
|
||||
|
||||
@dataclass
|
||||
class GMASCMPlatformConfig(GMPlatformConfig):
|
||||
def init(self):
|
||||
# ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
|
||||
self.car_docs = []
|
||||
pass
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMSDGMPlatformConfig(GMPlatformConfig):
|
||||
def init(self):
|
||||
# Don't show in docs until the harness is sold. See https://github.com/commaai/openpilot/issues/32471
|
||||
self.car_docs = []
|
||||
pass
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
|
||||
@@ -9,10 +9,12 @@ from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.hyundai import hyundaicanfd, hyundaican
|
||||
from opendbc.car.hyundai.hyundaicanfd import CanBus
|
||||
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
|
||||
CANFD_RADAR_LIVE_LONGITUDINAL_CAR, 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
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.starpilot.common.testing_grounds import testing_ground
|
||||
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
@@ -79,7 +81,10 @@ BLINDSPOT_WARNING_SOUND_SAMPLES = 36
|
||||
|
||||
def egmp_dynamic_longitudinal_tuning(CP) -> bool:
|
||||
return CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE) or \
|
||||
kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", ""))
|
||||
kia_ev6_gt_line_longitudinal_tuning(
|
||||
CP.carFingerprint, getattr(CP, "carVin", ""),
|
||||
testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
|
||||
)
|
||||
|
||||
|
||||
def get_canfd_scc_decel_step(CP) -> float:
|
||||
@@ -87,7 +92,10 @@ def get_canfd_scc_decel_step(CP) -> float:
|
||||
|
||||
|
||||
def should_reset_ev6_gt_line_longitudinal_tuning(CP, long_control_state: LongCtrlState) -> bool:
|
||||
return kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", "")) and \
|
||||
return kia_ev6_gt_line_longitudinal_tuning(
|
||||
CP.carFingerprint, getattr(CP, "carVin", ""),
|
||||
testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
|
||||
) and \
|
||||
long_control_state == LongCtrlState.off
|
||||
|
||||
|
||||
@@ -631,7 +639,10 @@ class CarController(CarControllerBase):
|
||||
|
||||
use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
|
||||
actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
|
||||
is_ev6_gt_line = kia_ev6_gt_line_longitudinal_tuning(self.CP.carFingerprint, getattr(self.CP, "carVin", ""))
|
||||
is_ev6_gt_line = kia_ev6_gt_line_longitudinal_tuning(
|
||||
self.CP.carFingerprint, getattr(self.CP, "carVin", ""),
|
||||
testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
|
||||
)
|
||||
is_ccnc_angle_long = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR
|
||||
if is_ccnc_angle_long and (self._ev9_long_tuning.stop_request or not CC.enabled or CC.cruiseControl.override):
|
||||
self._ioniq_6_long_tuning = reset_egmp_longitudinal_tuning(self._ioniq_6_long_tuning)
|
||||
@@ -721,15 +732,25 @@ class CarController(CarControllerBase):
|
||||
def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC, lka_icon, lfa_icon):
|
||||
can_sends = []
|
||||
can_canfd_blended = bool(self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
|
||||
blended_hda2 = can_canfd_blended and bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
|
||||
|
||||
# HUD messages
|
||||
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
|
||||
hud_control)
|
||||
|
||||
if can_canfd_blended and self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||
if blended_hda2:
|
||||
can_sends.extend(hyundaicanfd.create_steering_messages(
|
||||
self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
|
||||
))
|
||||
if self.long_active_ecu:
|
||||
can_sends.extend(hyundaican.create_lkas11_can_canfd_blended(
|
||||
self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
|
||||
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
|
||||
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
|
||||
left_lane_warning, right_lane_warning, CS.msg_364,
|
||||
include_alerts=False,
|
||||
counter_mod=0xF,
|
||||
))
|
||||
if self.frame % 5 == 0:
|
||||
can_sends.append(hyundaicanfd.create_suppress_lfa(
|
||||
self.packer, self.CAN, CS.lfa_block_msg, False,
|
||||
@@ -760,13 +781,22 @@ class CarController(CarControllerBase):
|
||||
can_sends.extend(self._create_can_redneck_button_messages(CS))
|
||||
|
||||
if self.long_active_ecu and can_canfd_blended:
|
||||
can_sends.extend(hyundaican.create_radar_aux_messages(self.packer, self.CAN, self.frame))
|
||||
if blended_hda2:
|
||||
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame, blended_hda2=True))
|
||||
can_sends.extend(hyundaican.create_radar_aux_messages(self.packer, self.CAN, self.frame, hda2=blended_hda2))
|
||||
|
||||
if self.frame % 2 == 0 and self.long_active_ecu:
|
||||
# TODO: unclear if this is needed
|
||||
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
|
||||
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
|
||||
if can_canfd_blended:
|
||||
if blended_hda2:
|
||||
stopping = stopping and CS.out.vEgoRaw < 0.1
|
||||
can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended_hda2(
|
||||
self.packer, CC.enabled, accel, self.accel_last, jerk, int(self.frame / 2), hud_control,
|
||||
set_speed_in_units, stopping, CC.cruiseControl.override, use_fca, self.CP,
|
||||
))
|
||||
self.accel_last = accel
|
||||
elif can_canfd_blended:
|
||||
can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended(self.packer, CC.enabled, accel, jerk,
|
||||
int(self.frame / 2), hud_control,
|
||||
set_speed_in_units, stopping,
|
||||
@@ -777,7 +807,7 @@ class CarController(CarControllerBase):
|
||||
CC.cruiseControl.override, use_fca, self.CP))
|
||||
|
||||
# 20 Hz LFA MFA message
|
||||
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
|
||||
if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.SEND_LFA.value or (self.long_active_ecu and blended_hda2)):
|
||||
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.frame, self.CP, lfa_icon))
|
||||
|
||||
# 5 Hz ACC options
|
||||
|
||||
@@ -28,6 +28,11 @@ IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
|
||||
CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
|
||||
ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS = int(1.3e9)
|
||||
|
||||
CLASSIC_MEDIA_BUTTON_CARS = frozenset({
|
||||
CAR.HYUNDAI_ELANTRA_2024,
|
||||
CAR.HYUNDAI_ELANTRA_HEV_2024,
|
||||
})
|
||||
|
||||
|
||||
def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
|
||||
if CP.flags & HyundaiFlags.EV:
|
||||
@@ -233,7 +238,9 @@ class CarState(CarStateBase):
|
||||
return button_events
|
||||
|
||||
def create_lkas_button_events(self, cp: CANParser, prev_lda_button: int) -> list[structs.CarState.ButtonEvent]:
|
||||
if self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
|
||||
if self.CP.carFingerprint == CAR.HYUNDAI_SONATA:
|
||||
self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"]) if cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0 else 0
|
||||
elif self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
|
||||
self.lda_button = self.get_sonata_hybrid_lkas_button_state(cp)
|
||||
else:
|
||||
source_states = (
|
||||
@@ -425,9 +432,6 @@ class CarState(CarStateBase):
|
||||
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
|
||||
*lkas_button_events]
|
||||
|
||||
if getattr(self.FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING:
|
||||
ret.cruiseState.available = self.update_main_cruise(ret)
|
||||
|
||||
ret.blockPcmEnable = not self.recent_button_interaction()
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
@@ -438,6 +442,9 @@ class CarState(CarStateBase):
|
||||
ret.lowSpeedAlert = self.low_speed_alert
|
||||
|
||||
fp_ret = custom.StarPilotCarState.new_message()
|
||||
if self.CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
|
||||
fp_ret.modePressed = bool(cp.vl["GW_SWRC_PE"]["C_ModeSW"])
|
||||
fp_ret.customPressed = bool(cp.vl["GW_SWRC_PE"]["C_MTSSW"])
|
||||
|
||||
return ret, fp_ret
|
||||
|
||||
@@ -668,7 +675,7 @@ class CarState(CarStateBase):
|
||||
("CGW2", 5),
|
||||
("WHL_SPD11", 50),
|
||||
("SAS11", 100),
|
||||
("SCC12", 50),
|
||||
("SCC12", 0 if CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CANFD_LKA_STEERING else 50),
|
||||
("EMS12", 100),
|
||||
("EMS16", 100),
|
||||
("LVR12", 100),
|
||||
@@ -687,6 +694,9 @@ class CarState(CarStateBase):
|
||||
("BCM_PO_11", 0),
|
||||
("CLU13", 0),
|
||||
]
|
||||
if CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
|
||||
# Steering-wheel media switches are event-driven on the refresh Elantra.
|
||||
msgs.append(("GW_SWRC_PE", 0))
|
||||
if CP.flags & HyundaiFlags.NON_SCC and not (CP.flags & HyundaiFlags.NON_SCC_NO_FCA):
|
||||
msgs.append(("FCA11", 0)) # Non-SCC trims can stop publishing FCA11; don't let it poison canValid
|
||||
|
||||
|
||||
@@ -106,7 +106,8 @@ def create_checksum_can_canfd_blended(packer, bus, addr, values):
|
||||
def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
|
||||
torque_fault, lkas11, sys_warning, sys_state, enabled,
|
||||
left_lane, right_lane,
|
||||
left_lane_depart, right_lane_depart, msg_364):
|
||||
left_lane_depart, right_lane_depart, msg_364,
|
||||
include_alerts=True, counter_mod=0x10):
|
||||
bus = CanBus(CP).ECAN
|
||||
values = {
|
||||
"CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
|
||||
@@ -116,7 +117,7 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
|
||||
"CR_Lkas_StrToqReq": apply_steer,
|
||||
"CF_Lkas_ActToi": steer_req,
|
||||
"CF_Lkas_ToiFlt": torque_fault,
|
||||
"CF_Lkas_MsgCount": frame % 0x10,
|
||||
"CF_Lkas_MsgCount": frame % counter_mod,
|
||||
"NEW_SIGNAL_1": 0,
|
||||
"NEW_SIGNAL_5": 100,
|
||||
}
|
||||
@@ -130,13 +131,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
|
||||
alerts_364.setdefault("BYTE5", 0)
|
||||
alerts_364.setdefault("BYTE6", 0)
|
||||
alerts_364.setdefault("BYTE7", 0)
|
||||
alerts_364["COUNTER"] = frame % 0x10
|
||||
alerts_364["COUNTER"] = frame % counter_mod
|
||||
alerts_364["CHECKSUM"] = create_checksum_can_canfd_blended(packer, bus, "ALERTS_364", alerts_364)
|
||||
|
||||
return [
|
||||
packer.make_can_msg("LKAS11", bus, values),
|
||||
packer.make_can_msg("ALERTS_364", bus, alerts_364),
|
||||
]
|
||||
ret = [packer.make_can_msg("LKAS11", bus, values)]
|
||||
if include_alerts:
|
||||
ret.append(packer.make_can_msg("ALERTS_364", bus, alerts_364))
|
||||
return ret
|
||||
|
||||
|
||||
def create_clu11(packer, frame, clu11, button, CP):
|
||||
@@ -233,6 +234,56 @@ def create_acc_commands_can_canfd_blended(packer, enabled, accel, upper_jerk, id
|
||||
return commands
|
||||
|
||||
|
||||
def create_acc_commands_can_canfd_blended_hda2(packer, enabled, accel, accel_last, upper_jerk, idx,
|
||||
hud_control, set_speed, stopping, long_override, use_fca, CP):
|
||||
commands = []
|
||||
bus = CanBus(CP).ECAN
|
||||
jerk = 5.0
|
||||
|
||||
if not enabled or long_override:
|
||||
accel_raw, accel_value = 0.0, 0.0
|
||||
else:
|
||||
accel_raw = accel
|
||||
accel_value = max(accel_last - jerk / 50.0, min(accel, accel_last + jerk / 50.0))
|
||||
|
||||
message_values = [
|
||||
("SCC11", {
|
||||
"aReqRaw": accel_raw,
|
||||
"aReqValue": accel_value,
|
||||
"JerkUpperLimit": upper_jerk,
|
||||
"JerkLowerLimit": jerk if enabled else 1.0,
|
||||
}),
|
||||
("SCC12", {
|
||||
"MainMode_ACC": 1,
|
||||
"ACCMode_Inactive": 0 if enabled else 1,
|
||||
"TauGapSet": hud_control.leadDistanceBars,
|
||||
"VSetDis": set_speed,
|
||||
"ACC_ObjDist": 1,
|
||||
"ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
|
||||
"StopReq": 1 if stopping else 0,
|
||||
}),
|
||||
("SCC14", {
|
||||
"ACC_ObjRelSpd": 0,
|
||||
"ObjValid": 0,
|
||||
"ObjStatus": 2 if hud_control.leadVisible and enabled else 1 if hud_control.leadVisible else 0,
|
||||
}),
|
||||
]
|
||||
|
||||
if use_fca and not (CP.flags & HyundaiFlags.CAMERA_SCC):
|
||||
# These values reproduce the stock status bytes without requesting AEB/FCA actuation.
|
||||
message_values.append(("FCA11", {
|
||||
"cr_vsm_deccmd": 255,
|
||||
"cf_vsm_deccmdact": 0,
|
||||
}))
|
||||
|
||||
for name, values in message_values:
|
||||
values["COUNTER"] = idx % 0xF
|
||||
values["CHECKSUM"] = create_checksum_can_canfd_blended(packer, bus, name, values)
|
||||
commands.append(packer.make_can_msg(name, bus, values))
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
|
||||
commands = []
|
||||
|
||||
@@ -324,17 +375,27 @@ def create_frt_radar_opt(packer):
|
||||
return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)
|
||||
|
||||
|
||||
def create_radar_aux_messages(packer, CAN, frame):
|
||||
def create_radar_aux_messages(packer, CAN, frame, hda2=False):
|
||||
commands = []
|
||||
|
||||
for addr, freq, values in (
|
||||
message_specs = (
|
||||
("RADAR_0x363", 2, {"FCA_ESA": 1}),
|
||||
("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x5D}),
|
||||
("RADAR_0x399", 5, {"BYTE2": 0x02}),
|
||||
("RADAR_0x39a", 5, {"BYTE7": 0xFF}),
|
||||
("RADAR_0x39b", 5, {}),
|
||||
("RADAR_0x39c", 5, {"BYTE5": 0xE0, "BYTE6": 0x79}),
|
||||
("RADAR_0x43a", 20, {"BYTE2": 0x07}),
|
||||
) if hda2 else (
|
||||
("RADAR_0x363", 2, {"FCA_ESA": 1}),
|
||||
("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x10}),
|
||||
):
|
||||
)
|
||||
|
||||
for addr, freq, values in message_specs:
|
||||
if frame % freq != 0:
|
||||
continue
|
||||
|
||||
msg_values = values | {"COUNTER": frame % 0x10}
|
||||
msg_values = values | {"COUNTER": frame % (0xF if hda2 else 0x10)}
|
||||
msg_values["CHECKSUM"] = create_checksum_can_canfd_blended(packer, CAN.ECAN, addr, msg_values)
|
||||
commands.append(packer.make_can_msg(addr, CAN.ECAN, msg_values))
|
||||
|
||||
|
||||
@@ -258,7 +258,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
|
||||
ret = []
|
||||
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
|
||||
if CP.openpilotLongitudinalControl or send_lfa_status:
|
||||
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))
|
||||
if lfa_only:
|
||||
return ret
|
||||
@@ -820,7 +820,7 @@ def create_fca_warning_light(packer, CAN, frame):
|
||||
return ret
|
||||
|
||||
|
||||
def create_adrv_messages(packer, CAN, frame):
|
||||
def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
|
||||
# messages needed to car happy after disabling
|
||||
# the ADAS Driving ECU to do longitudinal control
|
||||
|
||||
@@ -830,6 +830,9 @@ def create_adrv_messages(packer, CAN, frame):
|
||||
}
|
||||
ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
|
||||
|
||||
if blended_hda2:
|
||||
return ret
|
||||
|
||||
ret.extend(create_fca_warning_light(packer, CAN, frame))
|
||||
|
||||
if frame % 5 == 0:
|
||||
|
||||
@@ -9,15 +9,18 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
|
||||
RADAR_LIVE_LONGITUDINAL_CAR, \
|
||||
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
|
||||
LEGACY_LONGITUDINAL_CAR, \
|
||||
CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR, \
|
||||
HyundaiStarPilotSafetyFlags, \
|
||||
hyundai_cancel_button_enables_cruise, \
|
||||
kia_ev6_gt_line_longitudinal_tuning
|
||||
kia_ev6_gt_line_longitudinal_tuning, \
|
||||
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
|
||||
from opendbc.car.hyundai.radar_interface import get_radar_track_config, radar_tracks_available
|
||||
from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
|
||||
from opendbc.car.disable_ecu import disable_ecu, ecu_log
|
||||
from opendbc.car.hyundai.carcontroller import CarController
|
||||
from opendbc.car.hyundai.carstate import CarState
|
||||
from opendbc.car.hyundai.radar_interface import RadarInterface
|
||||
from openpilot.starpilot.common.testing_grounds import testing_ground
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
Ecu = structs.CarParams.Ecu
|
||||
@@ -105,7 +108,8 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def apply_post_fingerprint_params(CP: structs.CarParams, candidate, fingerprint, car_fw) -> None:
|
||||
if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin):
|
||||
gt_line_testing_ground = testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID)
|
||||
if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin, gt_line_testing_ground):
|
||||
apply_kia_ev6_gt_line_longitudinal_params(CP)
|
||||
|
||||
@staticmethod
|
||||
@@ -199,7 +203,8 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
# Shared configuration for non CAN-FD cars
|
||||
ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR or candidate in LEGACY_LONGITUDINAL_CAR
|
||||
if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED and ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
|
||||
if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED and ret.flags & HyundaiFlags.CANFD_LKA_STEERING and \
|
||||
candidate not in CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR:
|
||||
ret.alphaLongitudinalAvailable = False
|
||||
ret.enableBsm = 0x58b in fingerprint[CAN.ECAN]
|
||||
|
||||
|
||||
@@ -549,14 +549,17 @@ class TestHyundaiFingerprint:
|
||||
|
||||
assert CP.flags & HyundaiFlags.CAN_CANFD_BLENDED
|
||||
assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
|
||||
assert not CP.alphaLongitudinalAvailable
|
||||
assert not CP.openpilotLongitudinalControl
|
||||
assert CP.alphaLongitudinalAvailable
|
||||
assert CP.openpilotLongitudinalControl
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_CANFD_BLENDED
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_LKA_STEERING
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
|
||||
assert can_bus.ACAN == 0
|
||||
assert can_bus.ECAN == 1
|
||||
assert parsers[Bus.pt].bus == 1
|
||||
assert parsers[Bus.cam].bus == 2
|
||||
scc12_state = next(state for state in parsers[Bus.pt].message_states.values() if state.name == "SCC12")
|
||||
assert scc12_state.frequency == 0
|
||||
assert CarControllerParams(CP).STEER_MAX == 384
|
||||
|
||||
def test_palisade_telluride_hda2_sends_lkas_and_camera_suppression(self):
|
||||
@@ -587,6 +590,41 @@ class TestHyundaiFingerprint:
|
||||
assert (0x2A4, 0) in msg_addrs_buses
|
||||
assert not ({0x340, 0x364} & {addr for addr, _, _ in msgs})
|
||||
|
||||
def test_palisade_telluride_hda2_long_sends_complete_support_set(self):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[2][0x50] = 16
|
||||
fingerprint[1][0x38D] = 8
|
||||
car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
|
||||
CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, fingerprint, car_fw, True, False, False, None)
|
||||
controller = CarController(DBC[CP.carFingerprint], CP)
|
||||
controller.frame = 0
|
||||
|
||||
hud_control = SimpleNamespace(
|
||||
visualAlert=CarControl.HUDControl.VisualAlert.none,
|
||||
leftLaneVisible=True,
|
||||
rightLaneVisible=True,
|
||||
leftLaneDepart=False,
|
||||
rightLaneDepart=False,
|
||||
leadDistanceBars=3,
|
||||
leadVisible=True,
|
||||
)
|
||||
lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 24) if i != 7}
|
||||
lfa_block_msg["COUNTER"] = 0
|
||||
CS = SimpleNamespace(lfa_block_msg=lfa_block_msg, redneck_send_button=Buttons.NONE, lkas11={}, msg_364={},
|
||||
out=SimpleNamespace(vEgoRaw=5.0))
|
||||
CC = SimpleNamespace(enabled=True, cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False))
|
||||
actuators = SimpleNamespace(longControlState=LongCtrlState.pid)
|
||||
|
||||
msgs = controller.create_can_msgs(True, 0, False, 42.0, 0.0, False, hud_control, actuators, CS, CC, 2, 2)
|
||||
msg_addrs_buses = {(addr, bus) for addr, _, bus in msgs}
|
||||
|
||||
assert {
|
||||
(0x50, 0), (0x2A4, 0), (0x51, 0),
|
||||
(0x340, 1), (0x485, 1), (0x420, 1), (0x421, 1), (0x389, 1), (0x38D, 1),
|
||||
(0x363, 1), (0x398, 1), (0x399, 1), (0x39A, 1), (0x39B, 1), (0x39C, 1), (0x43A, 1),
|
||||
} <= msg_addrs_buses
|
||||
assert (0x364, 1) not in msg_addrs_buses
|
||||
|
||||
def test_g70_aol_uses_active_lkas_icon(self):
|
||||
CP = CarInterface.get_params(CAR.GENESIS_G70_2020, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
controller = CarController(DBC[CP.carFingerprint], CP)
|
||||
@@ -616,6 +654,22 @@ class TestHyundaiFingerprint:
|
||||
assert DBC[CP.carFingerprint][Bus.pt] == "hyundai_can_refresh_generated"
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
|
||||
|
||||
def test_elantra_refresh_decodes_classic_media_buttons(self):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], CP, toggles)
|
||||
|
||||
car_state = CarState(CP, FPCP)
|
||||
can_parsers = car_state.get_can_parsers(CP)
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
media_msg = packer.make_can_msg("GW_SWRC_PE", 0, {"C_ModeSW": 1, "C_MTSSW": 1})
|
||||
|
||||
can_parsers[Bus.pt].update([(1_000_000_000, [media_msg])])
|
||||
_, fp_ret = car_state.update(can_parsers, toggles)
|
||||
|
||||
assert fp_ret.modePressed
|
||||
assert fp_ret.customPressed
|
||||
|
||||
def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[0][0x391] = 8
|
||||
@@ -652,44 +706,14 @@ class TestHyundaiFingerprint:
|
||||
assert combined_safety_param & HyundaiSafetyFlags.LONG
|
||||
assert combined_safety_param & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
|
||||
|
||||
def test_sonata_hybrid_aol_main_lkas_sync_is_scoped(self):
|
||||
toggles = SimpleNamespace(always_on_lateral_lkas=True, main_cruise_aol_toggle=True)
|
||||
|
||||
sonata_hybrid_cp = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
sonata_hybrid_fpcp = CarInterface.get_starpilot_params(
|
||||
CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, toggles,
|
||||
)
|
||||
assert sonata_hybrid_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC
|
||||
|
||||
sonata_cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
|
||||
sonata_fpcp = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], sonata_cp, toggles)
|
||||
assert not (sonata_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
|
||||
|
||||
disabled_toggles = SimpleNamespace(always_on_lateral_lkas=True, main_cruise_aol_toggle=False)
|
||||
disabled_fpcp = CarInterface.get_starpilot_params(
|
||||
CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, disabled_toggles,
|
||||
)
|
||||
assert not (disabled_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
|
||||
|
||||
minimal_fpcp = CarInterface.get_starpilot_params(
|
||||
CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, SimpleNamespace(),
|
||||
)
|
||||
assert not (minimal_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
|
||||
|
||||
def test_classic_hyundai_long_tracks_main_cruise_state(self):
|
||||
@pytest.mark.parametrize("candidate", (CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_SONATA_HYBRID))
|
||||
def test_legacy_hyundai_long_does_not_gate_availability_on_main_cruise(self, candidate):
|
||||
toggles = get_test_toggles()
|
||||
classic_cp = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_2021, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
classic_fpcp = CarInterface.get_starpilot_params(
|
||||
CAR.HYUNDAI_ELANTRA_2021, gen_empty_fingerprint(), [], classic_cp, toggles,
|
||||
CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
FPCP = CarInterface.get_starpilot_params(
|
||||
candidate, gen_empty_fingerprint(), [], CP, toggles,
|
||||
)
|
||||
assert classic_fpcp.flags & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING
|
||||
|
||||
car_state = CarState(classic_cp, classic_fpcp)
|
||||
ret = SimpleNamespace(
|
||||
cruiseState=SimpleNamespace(available=True),
|
||||
buttonEvents=[structs.CarState.ButtonEvent(pressed=True, type=ButtonType.mainCruise)],
|
||||
)
|
||||
assert car_state.update_main_cruise(ret)
|
||||
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_fpcp = CarInterface.get_starpilot_params(
|
||||
@@ -1019,6 +1043,24 @@ class TestHyundaiFingerprint:
|
||||
assert reset_state.accel_last == pytest.approx(0.0)
|
||||
assert reset_state.long_control_state_last == LongCtrlState.off
|
||||
|
||||
def test_kia_ev6_gt_line_testing_ground_longitudinal_params(self, monkeypatch):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
CP.carVin = "00000000000000000"
|
||||
|
||||
monkeypatch.setattr(
|
||||
"opendbc.car.hyundai.interface.testing_ground",
|
||||
SimpleNamespace(use=lambda slot_id: slot_id == "5"),
|
||||
)
|
||||
CarInterface.apply_post_fingerprint_params(CP, CAR.KIA_EV6, gen_empty_fingerprint(), [])
|
||||
|
||||
assert CP.startAccel == pytest.approx(1.4)
|
||||
assert CP.vEgoStarting == pytest.approx(0.5)
|
||||
assert CP.longitudinalActuatorDelay == pytest.approx(0.35)
|
||||
|
||||
assert kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin, testing_ground_active=True)
|
||||
assert not kia_ev6_gt_line_longitudinal_tuning(CAR.KIA_EV6_2025, CP.carVin, testing_ground_active=True)
|
||||
|
||||
def test_kia_ev6_non_gt_line_keeps_family_longitudinal_params(self):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
@@ -1486,7 +1528,7 @@ class TestHyundaiFingerprint:
|
||||
|
||||
assert Bus.alt not in can_parsers
|
||||
|
||||
def test_sonata_alt_bus_clu13_swl_stat_lkas_button_event(self):
|
||||
def test_sonata_uses_main_bus_bcm_lkas_button_event(self):
|
||||
toggles = get_test_toggles()
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[0][0x391] = 8
|
||||
@@ -1498,16 +1540,26 @@ class TestHyundaiFingerprint:
|
||||
can_parsers = car_state.get_can_parsers(CP)
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
|
||||
assert Bus.alt not in can_parsers
|
||||
|
||||
def update(lkas_button: int, frame: int):
|
||||
msg = packer.make_can_msg("CLU13", 1, {
|
||||
"CF_Clu_SWL_Stat": lkas_button,
|
||||
})
|
||||
can_parsers[Bus.alt].update([(frame, [msg])])
|
||||
msgs = [
|
||||
packer.make_can_msg("CLU13", 0, {
|
||||
"CF_Clu_LdwsLkasSW": 0,
|
||||
"CF_Clu_SWL_Stat": 4,
|
||||
}),
|
||||
packer.make_can_msg("BCM_PO_11", 0, {
|
||||
"LDA_BTN": lkas_button,
|
||||
}),
|
||||
]
|
||||
can_parsers[Bus.pt].update([(frame, msgs)])
|
||||
return car_state.update(can_parsers, toggles)[0]
|
||||
|
||||
update(0, 1)
|
||||
ret = update(4, 2)
|
||||
ret = update(1, 2)
|
||||
assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
|
||||
|
||||
ret = update(0, 3)
|
||||
assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
|
||||
|
||||
def test_genesis_g90_does_not_use_alt_bus_lkas_parser(self):
|
||||
@@ -2414,6 +2466,46 @@ class TestHyundaiFingerprint:
|
||||
assert parser.vl["SCC14"]["ObjStatus"] == 1
|
||||
assert parser.vl["RADAR_0x363"]["FCA_ESA"] == 1
|
||||
|
||||
def test_can_canfd_blended_hda2_acc_commands_use_hda2_layout(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.HYUNDAI_PALISADE_2023
|
||||
CP.flags = int(HyundaiFlags.CAN_CANFD_BLENDED | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.USE_FCA)
|
||||
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [
|
||||
("SCC11", 0),
|
||||
("SCC12", 0),
|
||||
("SCC14", 0),
|
||||
("FCA11", 0),
|
||||
], 1)
|
||||
|
||||
msgs = hyundaican.create_acc_commands_can_canfd_blended_hda2(
|
||||
packer,
|
||||
enabled=True,
|
||||
accel=-1.0,
|
||||
accel_last=0.0,
|
||||
upper_jerk=2.5,
|
||||
idx=15,
|
||||
hud_control=SimpleNamespace(leadDistanceBars=3, leadVisible=True),
|
||||
set_speed=42,
|
||||
stopping=False,
|
||||
long_override=False,
|
||||
use_fca=True,
|
||||
CP=CP,
|
||||
)
|
||||
parser.update([(1, msgs)])
|
||||
|
||||
assert parser.can_valid
|
||||
assert parser.vl["SCC11"]["aReqRaw"] == pytest.approx(-1.0)
|
||||
assert parser.vl["SCC11"]["aReqValue"] == pytest.approx(-0.1)
|
||||
assert parser.vl["SCC11"]["COUNTER"] == 0
|
||||
assert parser.vl["SCC12"]["VSetDis"] == 42
|
||||
assert parser.vl["SCC14"]["ObjValid"] == 0
|
||||
assert parser.vl["SCC14"]["ObjStatus"] == 2
|
||||
assert parser.vl["FCA11"]["aeb_cmd_act"] == 0
|
||||
assert parser.vl["FCA11"]["fca_cmd_act"] == 0
|
||||
assert next(dat for addr, dat, _ in msgs if addr == 0x38D)[4:7] == b"\xC0\x3F\x7F"
|
||||
|
||||
def test_can_acc_optional_messages_use_enabled_fca_usm(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.GENESIS_G90
|
||||
|
||||
@@ -481,7 +481,7 @@ class CAR(Platforms):
|
||||
[
|
||||
HyundaiCarDocs("Hyundai Palisade (without HDA II) 2023-25", "Highway Driving Assist",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-24", "Highway Driving Assist II",
|
||||
HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-25", "Highway Driving Assist II",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_r])),
|
||||
HyundaiCarDocs("Kia Telluride (without HDA II) 2023-25", "Highway Driving Assist",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
@@ -968,32 +968,27 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
|
||||
CAR.HYUNDAI_PALISADE_2023,
|
||||
})
|
||||
|
||||
CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR = frozenset({
|
||||
CAR.HYUNDAI_PALISADE_2023,
|
||||
})
|
||||
|
||||
KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
|
||||
"C4DLC",
|
||||
})
|
||||
KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID = "5"
|
||||
|
||||
|
||||
# These classic HKG platforms publish the LKAS button on CLU13 over the alt bus.
|
||||
# Keep G90 excluded until its alt-bus path is route-proven without the recent
|
||||
# engage/disengage regression.
|
||||
ALT_BUS_LDA_BUTTON_CARS = frozenset({
|
||||
CAR.HYUNDAI_SONATA,
|
||||
})
|
||||
|
||||
# On these Sonata layouts the alt-bus LKAS button pulses through the CLU13
|
||||
# steering-wheel-status field instead of the dedicated LKAS bit.
|
||||
ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset({
|
||||
CAR.HYUNDAI_SONATA,
|
||||
})
|
||||
ALT_BUS_LDA_BUTTON_CARS = frozenset()
|
||||
ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset()
|
||||
|
||||
|
||||
def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
|
||||
return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
|
||||
|
||||
|
||||
def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str) -> bool:
|
||||
return car_fingerprint == CAR.KIA_EV6 and isinstance(vin, str) and \
|
||||
len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
|
||||
def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str, testing_ground_active: bool = False) -> bool:
|
||||
vin_match = isinstance(vin, str) and len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
|
||||
return car_fingerprint == CAR.KIA_EV6 and (vin_match or testing_ground_active)
|
||||
|
||||
|
||||
def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
|
||||
|
||||
@@ -232,9 +232,6 @@ class CarInterfaceBase(ABC):
|
||||
fp_ret.flags |= int(HondaStarPilotFlags.HAS_CAMERA_MESSAGES)
|
||||
|
||||
elif platform in HYUNDAI:
|
||||
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD):
|
||||
fp_ret.flags |= HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING.value
|
||||
|
||||
if candidate in CANFD_CAR:
|
||||
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
|
||||
CAN = CanBus(None, fingerprint, bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING))
|
||||
@@ -267,6 +264,7 @@ class CarInterfaceBase(ABC):
|
||||
if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID and getattr(starpilot_toggles, "always_on_lateral_lkas", False) and \
|
||||
getattr(starpilot_toggles, "main_cruise_aol_toggle", False):
|
||||
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC.value
|
||||
|
||||
elif platform in TOYOTA:
|
||||
fp_ret.canUsePedal = not CP.autoResumeSng
|
||||
fp_ret.canUseSDSU = candidate not in UNSUPPORTED_DSU_CAR and candidate not in TSS2_CAR
|
||||
@@ -277,7 +275,7 @@ class CarInterfaceBase(ABC):
|
||||
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
|
||||
fp_ret.flags |= ToyotaStarPilotFlags.SMART_DSU.value
|
||||
|
||||
if candidate == TOYOTA.TOYOTA_PRIUS:
|
||||
if candidate in (TOYOTA.TOYOTA_PRIUS, TOYOTA.TOYOTA_PRIUS_RETROFIT):
|
||||
if 0x23 in fingerprint[0]:
|
||||
fp_ret.flags |= ToyotaStarPilotFlags.ZSS.value
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from dataclasses import dataclass
|
||||
from opendbc.car import structs, rate_limit, DT_CTRL
|
||||
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, structs, rate_limit, DT_CTRL
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
|
||||
FRICTION_THRESHOLD = 0.3
|
||||
@@ -10,6 +10,12 @@ FRICTION_THRESHOLD = 0.3
|
||||
ISO_LATERAL_ACCEL = 3.0 # m/s^2
|
||||
ISO_LATERAL_JERK = 5.0 # m/s^3
|
||||
|
||||
# Common angle/curvature safety limits. The road-roll allowance keeps the
|
||||
# controller and panda limits aligned on normally banked roads.
|
||||
AVERAGE_ROAD_ROLL = 0.06
|
||||
MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
|
||||
MAX_LATERAL_JERK = 3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
|
||||
|
||||
|
||||
@dataclass
|
||||
class AngleSteeringLimits:
|
||||
@@ -24,6 +30,29 @@ class AngleSteeringLimits:
|
||||
MAX_ANGLE_RATE: float = math.inf
|
||||
|
||||
|
||||
@dataclass
|
||||
class CurvatureSteeringLimits:
|
||||
CURVATURE_MAX: float
|
||||
MAX_LATERAL_ACCEL: float = MAX_LATERAL_ACCEL
|
||||
MAX_LATERAL_JERK: float = MAX_LATERAL_JERK
|
||||
|
||||
def apply_limits(self, apply_curvature: float, apply_curvature_last: float, v_ego: float, curvature: float,
|
||||
lat_active: bool, steer_step: int) -> float:
|
||||
"""Apply lateral acceleration and jerk constraints to curvature."""
|
||||
v_ego = max(v_ego, 1)
|
||||
|
||||
max_curvature = self.MAX_LATERAL_ACCEL / (v_ego ** 2)
|
||||
new_apply_curvature = float(np.clip(apply_curvature, -max_curvature, max_curvature))
|
||||
|
||||
max_jerk = (self.MAX_LATERAL_JERK / (v_ego ** 2)) * (steer_step * DT_CTRL)
|
||||
new_apply_curvature = float(np.clip(new_apply_curvature, apply_curvature_last - max_jerk, apply_curvature_last + max_jerk))
|
||||
|
||||
if not lat_active:
|
||||
new_apply_curvature = curvature
|
||||
|
||||
return float(np.clip(new_apply_curvature, -self.CURVATURE_MAX, self.CURVATURE_MAX))
|
||||
|
||||
|
||||
def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
|
||||
# some safety modes utilize a dynamic max steer
|
||||
if steer_max is None:
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import numpy as np
|
||||
|
||||
from opendbc.can import CANPacker
|
||||
from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
|
||||
from opendbc.car import Bus, DT_CTRL, structs
|
||||
from opendbc.car.common.filter_simple import FirstOrderFilter
|
||||
from opendbc.car.lateral import apply_std_steer_angle_limits
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
@@ -55,7 +55,7 @@ class CarController(CarControllerBase):
|
||||
CC.longActive and brake_pressure > 0, brake_mode))
|
||||
|
||||
if self.frame % 100 == 0:
|
||||
can_sends.append(make_tester_present_msg(0x707, 0, suppress_response=True))
|
||||
can_sends.append(nissancan.create_leaf_adas_tester_present())
|
||||
|
||||
### STEER ###
|
||||
steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
from opendbc.car import get_safety_config, structs, uds
|
||||
import time
|
||||
|
||||
from opendbc.car import get_safety_config, structs
|
||||
from opendbc.car.disable_ecu import disable_ecu, ecu_log
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
|
||||
from opendbc.car.nissan.carcontroller import CarController
|
||||
from opendbc.car.nissan.carstate import CarState
|
||||
from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags, \
|
||||
@@ -9,8 +12,18 @@ from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlag
|
||||
|
||||
LEAF_ADAS_ECU_ADDR = 0x707
|
||||
LEAF_ADAS_ECU_BUS = 0
|
||||
LEAF_ADAS_COMMAND_BUS = 1
|
||||
LEAF_ADAS_COMMAND_ADDRS = frozenset((0x1C3, 0x2B0))
|
||||
LEAF_2025_SV_PLUS_CAMERA_FW = b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80'
|
||||
|
||||
LEAF_KWP_EXTENDED_REQUEST = b"\x10\xC0"
|
||||
LEAF_KWP_EXTENDED_RESPONSE = b"\x50\xC0"
|
||||
LEAF_KWP_DISABLE_NORMAL_TX_NO_RESPONSE = b"\x28\x02"
|
||||
|
||||
LEAF_KWP_TAKEOVER_SESSIONS = (
|
||||
(LEAF_KWP_EXTENDED_REQUEST, LEAF_KWP_EXTENDED_RESPONSE),
|
||||
)
|
||||
|
||||
|
||||
def is_leaf_2025_sv_plus_longitudinal(candidate, car_fw):
|
||||
return candidate == CAR.NISSAN_LEAF and any(
|
||||
@@ -19,6 +32,82 @@ def is_leaf_2025_sv_plus_longitudinal(candidate, car_fw):
|
||||
)
|
||||
|
||||
|
||||
def leaf_adas_commands_silent(can_recv, settle_time=0.05, observe_time=0.15):
|
||||
"""Confirm the stock ADAS command sender stopped while bus 1 is still observable."""
|
||||
if can_recv is None:
|
||||
return False
|
||||
|
||||
try:
|
||||
# Let already-published CAN batches age out, then discard everything queued
|
||||
# before the communication-control response.
|
||||
time.sleep(settle_time)
|
||||
can_recv()
|
||||
|
||||
saw_adas_bus_traffic = False
|
||||
deadline = time.monotonic() + observe_time
|
||||
while time.monotonic() < deadline:
|
||||
packets = can_recv(wait_for_one=True)
|
||||
for packet in packets:
|
||||
for msg in packet:
|
||||
if msg.src != LEAF_ADAS_COMMAND_BUS:
|
||||
continue
|
||||
saw_adas_bus_traffic = True
|
||||
if msg.address in LEAF_ADAS_COMMAND_ADDRS:
|
||||
ecu_log(f"Nissan Leaf ADAS TX still active: {hex(msg.address)} on bus {msg.src}")
|
||||
return False
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX silence verification exception: {e}")
|
||||
return False
|
||||
|
||||
if not saw_adas_bus_traffic:
|
||||
ecu_log("Nissan Leaf ADAS TX silence could not be verified: no bus 1 traffic observed")
|
||||
return saw_adas_bus_traffic
|
||||
|
||||
|
||||
def leaf_adas_commands_present(can_recv, settle_time=0.05, observe_time=0.15):
|
||||
"""Confirm the stock ADAS command sender resumed on bus 1."""
|
||||
if can_recv is None:
|
||||
return False
|
||||
|
||||
try:
|
||||
time.sleep(settle_time)
|
||||
can_recv()
|
||||
|
||||
deadline = time.monotonic() + observe_time
|
||||
while time.monotonic() < deadline:
|
||||
for packet in can_recv(wait_for_one=True):
|
||||
if any(msg.src == LEAF_ADAS_COMMAND_BUS and msg.address in LEAF_ADAS_COMMAND_ADDRS for msg in packet):
|
||||
return True
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX recovery verification exception: {e}")
|
||||
return False
|
||||
|
||||
ecu_log("Nissan Leaf ADAS normal TX recovery could not be verified")
|
||||
return False
|
||||
|
||||
|
||||
def restore_leaf_adas_tx(can_recv, can_send):
|
||||
"""Return to the confirmed KWP default session and verify normal TX resumes."""
|
||||
if can_recv is None or can_send is None:
|
||||
return False
|
||||
|
||||
try:
|
||||
ecu_log("Nissan Leaf ADAS TX restore using KWP default session 1081")
|
||||
query = IsoTpParallelQuery(
|
||||
can_send, can_recv, LEAF_ADAS_ECU_BUS, [LEAF_ADAS_ECU_ADDR],
|
||||
[NISSAN_DIAGNOSTIC_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP],
|
||||
response_offset=NISSAN_RX_OFFSET,
|
||||
)
|
||||
if query.get_data(0.2) and leaf_adas_commands_present(can_recv):
|
||||
ecu_log("Nissan Leaf ADAS normal TX restored and command traffic confirmed")
|
||||
return True
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX restore exception: {e}")
|
||||
|
||||
ecu_log("Nissan Leaf ADAS normal TX restore was not confirmed")
|
||||
return False
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
@@ -62,39 +151,36 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def init(CP, can_recv, can_send):
|
||||
if not (CP.openpilotLongitudinalControl and CP.carFingerprint == CAR.NISSAN_LEAF):
|
||||
if not (CP.openpilotLongitudinalControl and CP.alphaLongitudinalAvailable and CP.carFingerprint == CAR.NISSAN_LEAF):
|
||||
return
|
||||
|
||||
from openpilot.common.params import Params
|
||||
params = Params()
|
||||
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
|
||||
uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
|
||||
uds.MESSAGE_TYPE.NORMAL])
|
||||
ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
|
||||
com_cont_req=communication_control, require_response=True, response_offset=NISSAN_RX_OFFSET)
|
||||
if not ecu_disabled:
|
||||
# Nissan firmware queries use the KWP-style default session. Try it after
|
||||
# standard UDS extended-session control, but still require a positive 0x68 response.
|
||||
ecu_disabled = False
|
||||
for diag_request, diag_response in LEAF_KWP_TAKEOVER_SESSIONS:
|
||||
ecu_log(f"Nissan Leaf ADAS takeover using KWP session {diag_request.hex()}")
|
||||
ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
|
||||
com_cont_req=communication_control, require_response=True,
|
||||
diag_request=NISSAN_DIAGNOSTIC_REQUEST_KWP, diag_response=NISSAN_DIAGNOSTIC_RESPONSE_KWP,
|
||||
response_offset=NISSAN_RX_OFFSET)
|
||||
params.put_bool("EcuDisableFailed", not ecu_disabled)
|
||||
if ecu_disabled:
|
||||
ecu_log("Nissan Leaf ADAS TX disabled; experimental longitudinal control enabled")
|
||||
com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX_NO_RESPONSE, require_response=False, retry=1,
|
||||
diag_request=diag_request, diag_response=diag_response, response_offset=NISSAN_RX_OFFSET)
|
||||
if ecu_disabled:
|
||||
break
|
||||
|
||||
takeover_confirmed = ecu_disabled and leaf_adas_commands_silent(can_recv)
|
||||
params.put_bool("EcuDisableFailed", not takeover_confirmed)
|
||||
if takeover_confirmed:
|
||||
ecu_log("Nissan Leaf ADAS TX disable and command silence confirmed; experimental longitudinal control enabled")
|
||||
else:
|
||||
# A response can be lost after the ECU accepts 0x28. Always attempt to
|
||||
# restore stock transmission before falling back to stock longitudinal.
|
||||
restore_leaf_adas_tx(can_recv, can_send)
|
||||
CP.safetyConfigs[-1].safetyParam &= ~NissanSafetyFlags.LONG_CONTROL.value
|
||||
CP.openpilotLongitudinalControl = False
|
||||
CP.pcmCruise = True
|
||||
ecu_log("Nissan Leaf ADAS TX disable failed; falling back to stock longitudinal control")
|
||||
ecu_log("Nissan Leaf ADAS takeover was not confirmed; falling back to stock longitudinal control")
|
||||
|
||||
@staticmethod
|
||||
def deinit(CP, can_recv, can_send):
|
||||
if not (CP.openpilotLongitudinalControl and CP.carFingerprint == CAR.NISSAN_LEAF):
|
||||
if not (CP.openpilotLongitudinalControl and CP.alphaLongitudinalAvailable and CP.carFingerprint == CAR.NISSAN_LEAF):
|
||||
return
|
||||
|
||||
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
|
||||
0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
|
||||
uds.MESSAGE_TYPE.NORMAL])
|
||||
disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
|
||||
com_cont_req=communication_control, response_offset=NISSAN_RX_OFFSET)
|
||||
restore_leaf_adas_tx(can_recv, can_send)
|
||||
|
||||
@@ -6,6 +6,11 @@ from opendbc.car.nissan.values import CAR
|
||||
nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
|
||||
|
||||
|
||||
def create_leaf_adas_tester_present():
|
||||
"""KWP2000 tester-present with a response requested, for the 2025 Leaf ADAS ECU."""
|
||||
return CanData(0x707, b"\x02\x3E\x01\x00\x00\x00\x00\x00", 0)
|
||||
|
||||
|
||||
def create_accel_command(raw_command, frame, active):
|
||||
"""Build the Leaf ADAS propulsion/regen request (0x2B0)."""
|
||||
raw_command = int(raw_command)
|
||||
|
||||
@@ -2,9 +2,11 @@ from types import SimpleNamespace
|
||||
|
||||
import pytest
|
||||
|
||||
from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs, uds
|
||||
from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.nissan.carstate import CarState
|
||||
from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW
|
||||
from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW, leaf_adas_commands_present, \
|
||||
leaf_adas_commands_silent, restore_leaf_adas_tx
|
||||
from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags
|
||||
|
||||
|
||||
@@ -82,7 +84,7 @@ def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive():
|
||||
|
||||
assert can_sends[0x2B0][1].hex() == "ff6090ac5b000e03"
|
||||
assert can_sends[0x1C3][1].hex() == "000000006400ff27"
|
||||
assert can_sends[0x707][1].hex() == "023e800000000000"
|
||||
assert can_sends[0x707][1].hex() == "023e010000000000"
|
||||
assert all(can_sends[addr][2] == 1 for addr in (0x2B0, 0x1C3))
|
||||
assert can_sends[0x707][2] == 0
|
||||
|
||||
@@ -137,33 +139,92 @@ def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
|
||||
return ecu_disabled
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", fake_disable_ecu)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: ecu_disabled)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.restore_leaf_adas_tx", lambda *_: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
CarInterface.init(CP, None, None)
|
||||
|
||||
assert len(calls) == (1 if ecu_disabled else 2)
|
||||
assert len(calls) == 1
|
||||
assert calls[0]["addr"] == 0x707
|
||||
assert calls[0]["bus"] == 0
|
||||
assert calls[0]["response_offset"] == 0x20
|
||||
assert calls[0]["require_response"] is True
|
||||
assert calls[0]["com_cont_req"] == bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
|
||||
uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
|
||||
uds.MESSAGE_TYPE.NORMAL])
|
||||
if not ecu_disabled:
|
||||
assert calls[1]["diag_request"] == b"\x10\x81"
|
||||
assert calls[1]["diag_response"] == b"\x50\x81"
|
||||
assert calls[0]["require_response"] is False
|
||||
assert calls[0]["diag_request"] == b"\x10\xc0"
|
||||
assert calls[0]["diag_response"] == b"\x50\xc0"
|
||||
assert calls[0]["com_cont_req"] == b"\x28\x02"
|
||||
assert calls[0]["retry"] == 1
|
||||
assert CP.openpilotLongitudinalControl is ecu_disabled
|
||||
assert CP.pcmCruise is not ecu_disabled
|
||||
assert bool(CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL) is ecu_disabled
|
||||
|
||||
|
||||
def test_leaf_kwp_session_can_confirm_ecu_disable(monkeypatch):
|
||||
def test_leaf_kwp_no_response_disable_can_confirm_ecu_silence(monkeypatch):
|
||||
CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
|
||||
results = iter((False, True))
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: next(results))
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
CarInterface.init(CP, None, None)
|
||||
|
||||
assert CP.openpilotLongitudinalControl
|
||||
assert not CP.pcmCruise
|
||||
assert CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL
|
||||
|
||||
|
||||
def test_leaf_positive_disable_response_without_command_silence_falls_back(monkeypatch):
|
||||
CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
|
||||
restore_calls = []
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: False)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.restore_leaf_adas_tx", lambda *args: restore_calls.append(args) or True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
CarInterface.init(CP, None, None)
|
||||
|
||||
assert len(restore_calls) == 1
|
||||
assert not CP.openpilotLongitudinalControl
|
||||
assert CP.pcmCruise
|
||||
assert not (CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
|
||||
|
||||
|
||||
def test_leaf_adas_command_silence_requires_live_bus_without_stock_commands(monkeypatch):
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
|
||||
def unrelated_bus_traffic(wait_for_one=False):
|
||||
return [] if not wait_for_one else [[CanData(0x123, b"\x00", 1)]]
|
||||
|
||||
assert leaf_adas_commands_silent(unrelated_bus_traffic, settle_time=0, observe_time=0.001)
|
||||
|
||||
def stock_command_traffic(wait_for_one=False):
|
||||
return [] if not wait_for_one else [[CanData(0x2B0, b"\x00" * 8, 1)]]
|
||||
|
||||
assert not leaf_adas_commands_silent(stock_command_traffic, settle_time=0, observe_time=0.001)
|
||||
assert not leaf_adas_commands_silent(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
|
||||
|
||||
|
||||
def test_leaf_adas_command_recovery_requires_stock_command(monkeypatch):
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
|
||||
def stock_command_traffic(wait_for_one=False):
|
||||
return [] if not wait_for_one else [[CanData(0x1C3, b"\x00" * 8, 1)]]
|
||||
|
||||
assert leaf_adas_commands_present(stock_command_traffic, settle_time=0, observe_time=0.001)
|
||||
assert not leaf_adas_commands_present(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
|
||||
|
||||
|
||||
def test_leaf_adas_restore_returns_to_kwp_default_session(monkeypatch):
|
||||
queries = []
|
||||
|
||||
class FakeQuery:
|
||||
def __init__(self, can_send, can_recv, bus, addrs, request, response, response_offset):
|
||||
queries.append((bus, addrs, request, response, response_offset))
|
||||
|
||||
def get_data(self, timeout):
|
||||
return {(0x707, None): b""}
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.IsoTpParallelQuery", FakeQuery)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_present", lambda *_: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
|
||||
assert restore_leaf_adas_tx(lambda **kwargs: [], lambda msgs: None)
|
||||
assert queries == [(0, [0x707], [b"\x10\x81"], [b"\x50\x81"], 0x20)]
|
||||
|
||||
@@ -22,14 +22,14 @@ _LEGACY_2025_REENGAGE_MAX_STEER_RATE = 2.0
|
||||
_LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA = 1.0
|
||||
_LEGACY_2025_RECLAIM_FRAMES = 36
|
||||
_LEGACY_2025_RECLAIM_EXPONENT = 2.5
|
||||
_ASCENT_OVERRIDE_HOLD_FRAMES = 10
|
||||
_ASCENT_REENGAGE_SETTLE_FRAMES = 8
|
||||
_ASCENT_REENGAGE_MAX_STEER_RATE = 2.0
|
||||
_ASCENT_REENGAGE_MAX_ANGLE_DELTA = 1.0
|
||||
_ASCENT_RECLAIM_FRAMES = 36
|
||||
_ASCENT_RECLAIM_EXPONENT = 2.5
|
||||
_ASCENT_MADS_MIN_SPEED = 0.44704
|
||||
_ASCENT_MADS_MAX_STEER_ANGLE = 120.0
|
||||
_ANGLE_OVERRIDE_HOLD_FRAMES = 10
|
||||
_ANGLE_REENGAGE_SETTLE_FRAMES = 8
|
||||
_ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
|
||||
_ANGLE_REENGAGE_MAX_ANGLE_DELTA = 1.0
|
||||
_ANGLE_RECLAIM_FRAMES = 36
|
||||
_ANGLE_RECLAIM_EXPONENT = 2.5
|
||||
_ANGLE_MADS_MIN_SPEED = 0.44704
|
||||
_ANGLE_MADS_MAX_STEER_ANGLE = 120.0
|
||||
|
||||
|
||||
def get_safety_CP():
|
||||
@@ -50,13 +50,13 @@ class CarController(CarControllerBase):
|
||||
self.legacy_2025_reengage_reference_angle = 0.0
|
||||
self.legacy_2025_reclaim_frames = 0
|
||||
self.legacy_2025_reclaim_start_angle = 0.0
|
||||
self.ascent_lkas_active = False
|
||||
self.ascent_handoff_active = False
|
||||
self.ascent_override_hold_frames = 0
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reengage_reference_angle = 0.0
|
||||
self.ascent_reclaim_frames = 0
|
||||
self.ascent_reclaim_start_angle = 0.0
|
||||
self.angle_lkas_active = False
|
||||
self.angle_handoff_active = False
|
||||
self.angle_override_hold_frames = 0
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reengage_reference_angle = 0.0
|
||||
self.angle_reclaim_frames = 0
|
||||
self.angle_reclaim_start_angle = 0.0
|
||||
|
||||
self.cruise_button_prev = 0
|
||||
self.steer_rate_counter = 0
|
||||
@@ -137,67 +137,67 @@ class CarController(CarControllerBase):
|
||||
self.legacy_2025_reclaim_frames -= 1
|
||||
return target_angle
|
||||
|
||||
def _reset_ascent_handoff(self):
|
||||
self.ascent_handoff_active = False
|
||||
self.ascent_override_hold_frames = 0
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reengage_reference_angle = 0.0
|
||||
self.ascent_reclaim_frames = 0
|
||||
self.ascent_reclaim_start_angle = 0.0
|
||||
def _reset_angle_handoff(self):
|
||||
self.angle_handoff_active = False
|
||||
self.angle_override_hold_frames = 0
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reengage_reference_angle = 0.0
|
||||
self.angle_reclaim_frames = 0
|
||||
self.angle_reclaim_start_angle = 0.0
|
||||
|
||||
def _ascent_manual_handoff(self, CS, lat_active):
|
||||
def _angle_manual_handoff(self, CS, lat_active):
|
||||
if not lat_active:
|
||||
self._reset_ascent_handoff()
|
||||
self._reset_angle_handoff()
|
||||
return False
|
||||
|
||||
if CS.out.steeringPressed:
|
||||
self.ascent_handoff_active = True
|
||||
self.ascent_override_hold_frames = _ASCENT_OVERRIDE_HOLD_FRAMES
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
self.ascent_reclaim_frames = 0
|
||||
self.angle_handoff_active = True
|
||||
self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
self.angle_reclaim_frames = 0
|
||||
return True
|
||||
|
||||
if not self.ascent_handoff_active and not self.ascent_lkas_active and \
|
||||
abs(CS.out.steeringRateDeg) > _ASCENT_REENGAGE_MAX_STEER_RATE:
|
||||
self.ascent_handoff_active = True
|
||||
self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
if not self.angle_handoff_active and not self.angle_lkas_active and \
|
||||
abs(CS.out.steeringRateDeg) > _ANGLE_REENGAGE_MAX_STEER_RATE:
|
||||
self.angle_handoff_active = True
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
|
||||
if not self.ascent_handoff_active:
|
||||
if not self.angle_handoff_active:
|
||||
return False
|
||||
|
||||
if self.ascent_override_hold_frames > 0:
|
||||
self.ascent_override_hold_frames -= 1
|
||||
if self.ascent_override_hold_frames == 0:
|
||||
self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
if self.angle_override_hold_frames > 0:
|
||||
self.angle_override_hold_frames -= 1
|
||||
if self.angle_override_hold_frames == 0:
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
return True
|
||||
|
||||
wheel_stable = abs(CS.out.steeringRateDeg) <= _ASCENT_REENGAGE_MAX_STEER_RATE and \
|
||||
abs(CS.out.steeringAngleDeg - self.ascent_reengage_reference_angle) <= _ASCENT_REENGAGE_MAX_ANGLE_DELTA
|
||||
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
|
||||
if wheel_stable:
|
||||
self.ascent_reengage_settle_frames += 1
|
||||
self.angle_reengage_settle_frames += 1
|
||||
else:
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
|
||||
if self.ascent_reengage_settle_frames < _ASCENT_REENGAGE_SETTLE_FRAMES:
|
||||
if self.angle_reengage_settle_frames < _ANGLE_REENGAGE_SETTLE_FRAMES:
|
||||
return True
|
||||
|
||||
self.ascent_handoff_active = False
|
||||
self.ascent_reengage_settle_frames = 0
|
||||
self.ascent_reclaim_frames = _ASCENT_RECLAIM_FRAMES
|
||||
self.ascent_reclaim_start_angle = CS.out.steeringAngleDeg
|
||||
self.angle_handoff_active = False
|
||||
self.angle_reengage_settle_frames = 0
|
||||
self.angle_reclaim_frames = _ANGLE_RECLAIM_FRAMES
|
||||
self.angle_reclaim_start_angle = CS.out.steeringAngleDeg
|
||||
return True
|
||||
|
||||
def _ascent_reclaim_target(self, target_angle):
|
||||
if self.ascent_reclaim_frames <= 0:
|
||||
def _angle_reclaim_target(self, target_angle):
|
||||
if self.angle_reclaim_frames <= 0:
|
||||
return target_angle
|
||||
|
||||
progress = (_ASCENT_RECLAIM_FRAMES - self.ascent_reclaim_frames + 1) / _ASCENT_RECLAIM_FRAMES
|
||||
eased_progress = progress ** _ASCENT_RECLAIM_EXPONENT
|
||||
target_angle = self.ascent_reclaim_start_angle + eased_progress * \
|
||||
(target_angle - self.ascent_reclaim_start_angle)
|
||||
self.ascent_reclaim_frames -= 1
|
||||
progress = (_ANGLE_RECLAIM_FRAMES - self.angle_reclaim_frames + 1) / _ANGLE_RECLAIM_FRAMES
|
||||
eased_progress = progress ** _ANGLE_RECLAIM_EXPONENT
|
||||
target_angle = self.angle_reclaim_start_angle + eased_progress * \
|
||||
(target_angle - self.angle_reclaim_start_angle)
|
||||
self.angle_reclaim_frames -= 1
|
||||
return target_angle
|
||||
|
||||
def lateral_angle(self, CC, CS):
|
||||
@@ -224,30 +224,41 @@ class CarController(CarControllerBase):
|
||||
self.legacy_2025_lkas_active = lkas_active
|
||||
return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
|
||||
|
||||
if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
|
||||
if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
|
||||
mads_only = CC.latActive and not CC.enabled
|
||||
mads_only_ok = CS.out.vEgoRaw > _ASCENT_MADS_MIN_SPEED and \
|
||||
abs(CS.out.steeringAngleDeg) < _ASCENT_MADS_MAX_STEER_ANGLE
|
||||
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 \
|
||||
CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
|
||||
|
||||
manual_handoff = self._ascent_manual_handoff(CS, lkas_available)
|
||||
manual_handoff = self._angle_manual_handoff(CS, lkas_available)
|
||||
lkas_active = lkas_available and not manual_handoff
|
||||
|
||||
if lkas_active and not self.ascent_lkas_active:
|
||||
if lkas_active and not self.angle_lkas_active:
|
||||
self.apply_steer_last = CS.out.steeringAngleDeg
|
||||
|
||||
steer_target = self._ascent_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
|
||||
apply_steer = apply_std_steer_angle_limits(
|
||||
steer_target,
|
||||
self.apply_steer_last,
|
||||
CS.out.vEgoRaw,
|
||||
CS.out.steeringAngleDeg,
|
||||
lkas_active,
|
||||
self.p.FIXED_ANGLE_LIMITS,
|
||||
)
|
||||
steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
|
||||
if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
|
||||
apply_steer = apply_std_steer_angle_limits(
|
||||
steer_target,
|
||||
self.apply_steer_last,
|
||||
CS.out.vEgoRaw,
|
||||
CS.out.steeringAngleDeg,
|
||||
lkas_active,
|
||||
self.p.FIXED_ANGLE_LIMITS,
|
||||
)
|
||||
else:
|
||||
apply_steer = apply_steer_angle_limits_vm(
|
||||
steer_target,
|
||||
self.apply_steer_last,
|
||||
CS.out.vEgoRaw,
|
||||
CS.out.steeringAngleDeg,
|
||||
lkas_active,
|
||||
self.p,
|
||||
self.VM,
|
||||
)
|
||||
self.apply_steer_last = apply_steer
|
||||
self.ascent_lkas_active = lkas_active
|
||||
self.angle_lkas_active = lkas_active
|
||||
return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
|
||||
|
||||
abs_torque = abs(CS.out.steeringTorque)
|
||||
|
||||
@@ -51,6 +51,8 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if ret.flags & SubaruFlags.LKAS_ANGLE:
|
||||
ret.steerControlType = structs.CarParams.SteerControlType.angle
|
||||
if candidate == CAR.SUBARU_OUTBACK_2023:
|
||||
ret.lateralSmoothSeconds = 0.4
|
||||
|
||||
elif candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
|
||||
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
|
||||
|
||||
@@ -202,6 +202,7 @@ def test_outback_2023_uses_d_platform_bus_layout():
|
||||
assert parsers[Bus.main].bus == CanBus.main
|
||||
assert controller.angle_bus == CanBus.main
|
||||
assert controller.status_bus == CanBus.main
|
||||
assert CP.lateralSmoothSeconds == pytest.approx(0.4)
|
||||
|
||||
|
||||
def test_legacy_2025_uses_gen2_angle_bus_layout():
|
||||
@@ -458,8 +459,9 @@ def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
|
||||
assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -25.0
|
||||
|
||||
|
||||
def test_ascent_angle_controller_yields_until_manual_steering_settles():
|
||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
|
||||
@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
|
||||
def test_angle_controller_yields_until_manual_steering_settles(platform):
|
||||
CP = CarInterface.get_non_essential_params(platform)
|
||||
controller = CarController({}, CP)
|
||||
CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
|
||||
CS = SimpleNamespace(out=SimpleNamespace(
|
||||
|
||||
@@ -85,6 +85,12 @@ non_tested_cars = [
|
||||
TESLA.TESLA_MODEL_S_PREAP,
|
||||
TOYOTA.TOYOTA_MATRIX_RETROFIT,
|
||||
VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter
|
||||
VOLKSWAGEN.VOLKSWAGEN_ID3_MK1,
|
||||
VOLKSWAGEN.VOLKSWAGEN_ID3_MK2,
|
||||
VOLKSWAGEN.AUDI_Q4_MK1,
|
||||
VOLKSWAGEN.AUDI_Q4_MK2,
|
||||
VOLKSWAGEN.SKODA_ENYAQ_MK1,
|
||||
VOLKSWAGEN.SKODA_ENYAQ_MK2,
|
||||
SUBARU.SUBARU_FORESTER_HYBRID,
|
||||
SUBARU.SUBARU_CROSSTREK_2025,
|
||||
VOLKSWAGEN.PORSCHE_MACAN_MK1,
|
||||
@@ -348,6 +354,8 @@ routes = [
|
||||
CarTestRoute("202c40641158a6e5/2021-09-21--09-43-24", VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1),
|
||||
CarTestRoute("2c68dda277d887ac/2021-05-11--15-22-20", VOLKSWAGEN.VOLKSWAGEN_ATLAS_MK1),
|
||||
CarTestRoute("ffcd23abbbd02219/2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3),
|
||||
CarTestRoute("aebd8f1d4ea16066/00000009--b31e222338", VOLKSWAGEN.VOLKSWAGEN_ID4_MK1),
|
||||
CarTestRoute("f73c01590368ee5b/00000aea--dc31ef6d5f", VOLKSWAGEN.VOLKSWAGEN_ID4_MK2),
|
||||
CarTestRoute("cae14e88932eb364/2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7), # Stock ACC
|
||||
CarTestRoute("3cfdec54aa035f3f/2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7), # openpilot longitudinal
|
||||
CarTestRoute("578742b26807f756|00000010--41ee3e5bec", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK6),
|
||||
@@ -367,6 +375,7 @@ routes = [
|
||||
CarTestRoute("0cd0b7f7e31a3853/2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
|
||||
CarTestRoute("8f205bdd11bcbb65/2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
|
||||
CarTestRoute("fc6b6c9a3471c846/2021-05-27--13-39-56", VOLKSWAGEN.SEAT_ATECA_MK1), # Leon
|
||||
CarTestRoute("d4dd69160a48f11f/00000003--9cfe00cb74", VOLKSWAGEN.CUPRA_BORN_MK1),
|
||||
CarTestRoute("0bbe367c98fa1538/2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
|
||||
CarTestRoute("12d6ae3057c04b0d/2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
|
||||
CarTestRoute("12d6ae3057c04b0d/2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
|
||||
|
||||
@@ -27,7 +27,7 @@ class TestCanFingerprint:
|
||||
fingerprint_iter = iter([can])
|
||||
car_fingerprint, finger = can_fingerprint(lambda **kwargs: [next(fingerprint_iter, [])]) # noqa: B023
|
||||
|
||||
if car_model == TOYOTA.TOYOTA_MATRIX_RETROFIT:
|
||||
if car_model in (TOYOTA.TOYOTA_MATRIX_RETROFIT, TOYOTA.TOYOTA_PRIUS_RETROFIT):
|
||||
assert fingerprint == {}
|
||||
assert car_fingerprint is None
|
||||
elif car_fingerprint is None and str(car_model).startswith(("BUICK_", "CADILLAC_", "CHEVROLET_", "GMC_", "HOLDEN_")):
|
||||
|
||||
@@ -5,9 +5,20 @@ from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.docs import get_all_car_docs
|
||||
from opendbc.car.docs_definitions import Cable, Column, PartType, Star, SupportType
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from opendbc.car.values import PLATFORMS
|
||||
|
||||
|
||||
# These platform IDs use different messages or DBCs, but are represented by the
|
||||
# same customer-facing model rows as their base platforms.
|
||||
DOCUMENTED_PLATFORM_ALIASES = {
|
||||
HONDA.HONDA_CIVIC_BOSCH_DIESEL: HONDA.HONDA_CIVIC_BOSCH,
|
||||
HONDA.HONDA_CRV_EU: HONDA.HONDA_CRV,
|
||||
HONDA.HONDA_CRV_SA: HONDA.HONDA_CRV,
|
||||
HONDA.HONDA_E_ADVANCE: HONDA.HONDA_E,
|
||||
}
|
||||
|
||||
|
||||
class TestCarDocs:
|
||||
@classmethod
|
||||
def setup_class(cls):
|
||||
@@ -26,10 +37,17 @@ class TestCarDocs:
|
||||
make_model_years[make_model].append(year)
|
||||
|
||||
def test_missing_car_docs(self, subtests):
|
||||
all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
|
||||
documented_platforms = {car.car_fingerprint for car in self.all_cars}
|
||||
for platform in sorted(interfaces.keys()):
|
||||
with subtests.test(platform=platform):
|
||||
assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry"
|
||||
assert platform in PLATFORMS, f"Platform: {platform} isn't registered"
|
||||
if platform in DOCUMENTED_PLATFORM_ALIASES:
|
||||
assert DOCUMENTED_PLATFORM_ALIASES[platform] in documented_platforms, \
|
||||
f"Platform: {platform} has no documented base platform"
|
||||
continue
|
||||
if platform == MOCK.MOCK:
|
||||
continue
|
||||
assert platform in documented_platforms, f"Platform: {platform} doesn't have a generated CarDocs entry"
|
||||
|
||||
def test_naming_conventions(self, subtests):
|
||||
# Asserts market-standard car naming conventions by brand
|
||||
|
||||
@@ -32,6 +32,9 @@ class TestFwFingerprint:
|
||||
[(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
|
||||
def test_exact_match(self, brand, car_model, ecus, test_non_essential):
|
||||
config = FW_QUERY_CONFIGS[brand]
|
||||
if car_model in config.fuzzy_only_platforms:
|
||||
pytest.skip("Platform requires VIN-aware fuzzy matching")
|
||||
|
||||
CP = CarParams()
|
||||
for _ in range(20):
|
||||
fw = []
|
||||
|
||||
@@ -28,6 +28,15 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"TESLA_MODEL_X" = [nan, 2.5, nan]
|
||||
|
||||
# Guess
|
||||
"VOLKSWAGEN_ID3_MK1" = [nan, 2.5, nan]
|
||||
"VOLKSWAGEN_ID3_MK2" = [nan, 2.5, nan]
|
||||
"VOLKSWAGEN_ID4_MK1" = [nan, 2.5, nan]
|
||||
"VOLKSWAGEN_ID4_MK2" = [nan, 2.5, nan]
|
||||
"AUDI_Q4_MK1" = [nan, 2.5, nan]
|
||||
"AUDI_Q4_MK2" = [nan, 2.5, nan]
|
||||
"CUPRA_BORN_MK1" = [nan, 2.5, nan]
|
||||
"SKODA_ENYAQ_MK1" = [nan, 2.5, nan]
|
||||
"SKODA_ENYAQ_MK2" = [nan, 2.5, nan]
|
||||
"FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
|
||||
"FORD_ESCAPE_MK4" = [nan, 1.5, nan]
|
||||
"FORD_ESCAPE_MK4_5" = [nan, 1.5, nan]
|
||||
|
||||
@@ -9,6 +9,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
|
||||
"TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
|
||||
"TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
|
||||
"TOYOTA_PRIUS_RETROFIT" = "TOYOTA_PRIUS"
|
||||
"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_PRIME"
|
||||
"LEXUS_IS" = "LEXUS_NX"
|
||||
"LEXUS_CTH" = "LEXUS_NX"
|
||||
|
||||
@@ -11,7 +11,7 @@ from opendbc.car.interfaces import CarControllerBase
|
||||
from opendbc.car.toyota import toyotacan
|
||||
from opendbc.car.toyota.values import CAR, MIN_ACC_SPEED, NO_STOP_TIMER_CAR, PEDAL_TRANSITION, TSS2_CAR, \
|
||||
CarControllerParams, ToyotaFlags, \
|
||||
UNSUPPORTED_DSU_CAR
|
||||
UNSUPPORTED_DSU_CAR, LEGACY_PRIUS_CAR
|
||||
from opendbc.can import CANPacker
|
||||
|
||||
Ecu = structs.CarParams.Ecu
|
||||
@@ -59,13 +59,17 @@ def is_camry_hybrid(CP) -> bool:
|
||||
|
||||
|
||||
def is_ths_hybrid(CP) -> bool:
|
||||
return CP.carFingerprint == CAR.TOYOTA_PRIUS or is_camry_hybrid(CP)
|
||||
return CP.carFingerprint in LEGACY_PRIUS_CAR or is_camry_hybrid(CP)
|
||||
|
||||
|
||||
def should_bypass_toyota_long_pid(CP) -> bool:
|
||||
def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
|
||||
highlander_sdsu = (
|
||||
CP.carFingerprint == CAR.TOYOTA_HIGHLANDER and
|
||||
bool(getattr(starpilot_toggles, "has_sdsu", False))
|
||||
)
|
||||
return bool(CP.enableGasInterceptorDEPRECATED or (
|
||||
CP.carFingerprint == CAR.TOYOTA_CAMRY and not is_camry_hybrid(CP)
|
||||
))
|
||||
) or highlander_sdsu)
|
||||
|
||||
|
||||
def get_long_tune(CP, params):
|
||||
@@ -74,7 +78,7 @@ def get_long_tune(CP, params):
|
||||
k_f = 1.0
|
||||
|
||||
if is_ths_hybrid(CP):
|
||||
k_f = 0.8 if CP.carFingerprint == CAR.TOYOTA_PRIUS else 1.0
|
||||
k_f = 0.8 if CP.carFingerprint in LEGACY_PRIUS_CAR else 1.0
|
||||
elif CP.carFingerprint not in TSS2_CAR:
|
||||
kiBP = [0., 5., 35.]
|
||||
kiV = [3.6, 2.4, 1.5]
|
||||
@@ -454,7 +458,7 @@ class CarController(CarControllerBase):
|
||||
a_ego_future = a_ego_blended + j_ego * future_t
|
||||
|
||||
if CC.longActive:
|
||||
if should_bypass_toyota_long_pid(self.CP):
|
||||
if should_bypass_toyota_long_pid(self.CP, starpilot_toggles):
|
||||
# Pedal/SDSU Toyotas have shown better behavior when we trust the planner
|
||||
# target directly instead of letting the Toyota longitudinal PID swing it
|
||||
# around. Keep the shared rate limits above, but bypass the extra
|
||||
@@ -477,7 +481,7 @@ class CarController(CarControllerBase):
|
||||
pcm_accel_cmd += pitch_compensation
|
||||
|
||||
feedforward = pcm_accel_cmd
|
||||
if self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
|
||||
if self.CP.carFingerprint in LEGACY_PRIUS_CAR:
|
||||
feedforward = get_prius_feedforward(feedforward, CS.out.vEgo)
|
||||
elif is_camry_hybrid(self.CP) and feedforward > 0.0:
|
||||
# Preserve the established Camry Hybrid acceleration response while
|
||||
@@ -507,19 +511,14 @@ class CarController(CarControllerBase):
|
||||
else:
|
||||
pcm_accel_cmd = limit_no_lead_cruise_sign_flip(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo,
|
||||
CS.out.cruiseState.speed, bool(hud_control.leadVisible))
|
||||
if self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
|
||||
if self.CP.carFingerprint in LEGACY_PRIUS_CAR:
|
||||
pcm_accel_cmd = limit_prius_stopping_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo, lead)
|
||||
|
||||
pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
|
||||
|
||||
main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
|
||||
# Toyota's physical distance-button hold can collide with StarPilot's wheel-button
|
||||
# actions and trip a temporary EPS fault. Suppress native long-press handling while
|
||||
# the physical gap button is held so ACC only sees the hold as a plain button press.
|
||||
allow_long_press = 0 if bool(getattr(CS, "distance_button", False)) else None
|
||||
can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
|
||||
CS.acc_type, fcw_alert, self.distance_button, starpilot_toggles.reverse_cruise_increase,
|
||||
allow_long_press))
|
||||
CS.acc_type, fcw_alert, self.distance_button, starpilot_toggles.reverse_cruise_increase))
|
||||
if self.CP.flags & ToyotaFlags.SECOC.value:
|
||||
acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
|
||||
acc_cmd_2 = add_mac(self.secoc_key,
|
||||
@@ -538,9 +537,8 @@ class CarController(CarControllerBase):
|
||||
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
|
||||
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
|
||||
else:
|
||||
allow_long_press = 0 if bool(getattr(CS, "distance_button", False)) else None
|
||||
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False,
|
||||
self.distance_button, starpilot_toggles.reverse_cruise_increase, allow_long_press))
|
||||
self.distance_button, starpilot_toggles.reverse_cruise_increase))
|
||||
|
||||
# *** hud ui ***
|
||||
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
|
||||
|
||||
@@ -8,7 +8,7 @@ from opendbc.car.common.filter_simple import FirstOrderFilter
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
from opendbc.car.toyota.values import ToyotaFlags, ToyotaStarPilotFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
|
||||
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
|
||||
SECOC_CAR
|
||||
SECOC_CAR, LEGACY_PRIUS_CAR
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
SteerControlType = structs.CarParams.SteerControlType
|
||||
@@ -23,7 +23,8 @@ TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
|
||||
# - lka/lta msg drop out: 3 (recoverable)
|
||||
# - prolonged high driver torque: 17 (permanent)
|
||||
PERM_STEER_FAULTS = (3, 17)
|
||||
LKAS_BUTTON_CAR = TSS2_CAR | {CAR.TOYOTA_PRIUS}
|
||||
LKAS_BUTTON_CAR = TSS2_CAR | LEGACY_PRIUS_CAR
|
||||
DISTANCE_BUTTON_CAR = {CAR.TOYOTA_SIENNA_4TH_GEN}
|
||||
|
||||
|
||||
# Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team!
|
||||
@@ -244,6 +245,11 @@ class CarState(CarStateBase):
|
||||
|
||||
buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
|
||||
|
||||
if self.CP.carFingerprint in DISTANCE_BUTTON_CAR:
|
||||
prev_distance_button = self.distance_button
|
||||
self.distance_button = cp.vl["PCM_CRUISE_4"]["DISTANCE"]
|
||||
buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
|
||||
|
||||
fp_ret = custom.StarPilotCarState.new_message()
|
||||
|
||||
if self.has_SDSU and not self.has_can_filter:
|
||||
@@ -292,6 +298,9 @@ class CarState(CarStateBase):
|
||||
if CP.enableGasInterceptorDEPRECATED:
|
||||
pt_messages.append(("GAS_SENSOR", 50))
|
||||
|
||||
if CP.carFingerprint in DISTANCE_BUTTON_CAR:
|
||||
pt_messages.append(("PCM_CRUISE_4", 1))
|
||||
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
|
||||
|
||||
@@ -6,6 +6,7 @@ Ecu = CarParams.Ecu
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.TOYOTA_MATRIX_RETROFIT: [{}],
|
||||
CAR.TOYOTA_PRIUS_RETROFIT: [{}],
|
||||
}
|
||||
|
||||
FW_VERSIONS = {
|
||||
|
||||
@@ -4,7 +4,7 @@ from opendbc.car.toyota.carcontroller import CarController
|
||||
from opendbc.car.toyota.radar_interface import RadarInterface
|
||||
from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, SECOC_CAR, NO_DSU_CAR, \
|
||||
MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
|
||||
ToyotaSafetyFlags
|
||||
ToyotaSafetyFlags, LEGACY_PRIUS_CAR
|
||||
from opendbc.car.disable_ecu import disable_ecu
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
@@ -67,11 +67,12 @@ class CarInterface(CarInterfaceBase):
|
||||
# These messages are normally absent there on pre-TSS2 platforms.
|
||||
camera_fingerprint = fingerprint.get(2, {})
|
||||
has_dsu_bypass = 0x343 in camera_fingerprint or 0x4CB in camera_fingerprint
|
||||
late_prius_camera = candidate == CAR.TOYOTA_PRIUS and any(
|
||||
late_prius_camera = candidate in LEGACY_PRIUS_CAR and any(
|
||||
fw.ecu == Ecu.fwdCamera and bytes(fw.fwVersion).startswith(b'8646F4705') for fw in car_fw
|
||||
)
|
||||
if candidate == CAR.LEXUS_IS or late_prius_camera:
|
||||
has_dsu_bypass = ((0x343 in camera_fingerprint and 0x343 not in fingerprint.get(1, {})) or
|
||||
if candidate in (CAR.LEXUS_IS, CAR.TOYOTA_CAMRY) or late_prius_camera:
|
||||
native_acc_fingerprints = (fingerprint.get(0, {}), fingerprint.get(1, {}))
|
||||
has_dsu_bypass = ((0x343 in camera_fingerprint and not any(0x343 in native_bus for native_bus in native_acc_fingerprints)) or
|
||||
(0x4CB in camera_fingerprint and 0x4CB not in fingerprint.get(0, {})))
|
||||
if not use_sdsu and candidate not in TSS2_CAR and has_dsu_bypass:
|
||||
ret.flags |= ToyotaFlags.DSU_BYPASS.value
|
||||
@@ -82,7 +83,7 @@ class CarInterface(CarInterfaceBase):
|
||||
if Ecu.hybrid in found_ecus:
|
||||
ret.flags |= ToyotaFlags.HYBRID.value
|
||||
|
||||
if candidate == CAR.TOYOTA_PRIUS:
|
||||
if candidate in LEGACY_PRIUS_CAR:
|
||||
stop_and_go = True
|
||||
ret.flags |= ToyotaFlags.HYBRID.value
|
||||
# Only give steer angle deadzone to for bad angle sensor prius
|
||||
@@ -174,7 +175,7 @@ class CarInterface(CarInterfaceBase):
|
||||
# to a negative value, so it won't matter.
|
||||
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptorDEPRECATED) else MIN_ACC_SPEED
|
||||
|
||||
prius_long_defaults = candidate == CAR.TOYOTA_PRIUS and ret.openpilotLongitudinalControl
|
||||
prius_long_defaults = candidate in LEGACY_PRIUS_CAR and ret.openpilotLongitudinalControl
|
||||
camry_hybrid_long_defaults = (candidate == CAR.TOYOTA_CAMRY and ret.openpilotLongitudinalControl and
|
||||
bool(ret.flags & ToyotaFlags.HYBRID.value))
|
||||
|
||||
|
||||
@@ -75,6 +75,22 @@ class TestToyotaInterfaces:
|
||||
assert default_params.lateralTuning.torque.steeringAngleDeadzoneDeg == pytest.approx(0.3)
|
||||
assert forced_params.lateralTuning.torque.steeringAngleDeadzoneDeg == pytest.approx(0.3)
|
||||
|
||||
def test_prius_tss2_eps_retrofit_uses_legacy_body_and_eps_scale(self):
|
||||
params = CarInterface.get_params(
|
||||
CAR.TOYOTA_PRIUS_RETROFIT,
|
||||
{bus: {} for bus in range(8)},
|
||||
[],
|
||||
False,
|
||||
False,
|
||||
False,
|
||||
SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
|
||||
assert params.lateralTuning.which() == "torque"
|
||||
assert params.safetyConfigs[0].safetyParam & 0xFF == 73
|
||||
assert params.flags & ToyotaFlags.TSS2.value == 0
|
||||
assert params.steerRatio == pytest.approx(15.74)
|
||||
|
||||
def test_sienna_4th_gen_uses_torque_controller(self):
|
||||
params = CarInterface.get_params(
|
||||
CAR.TOYOTA_SIENNA_4TH_GEN,
|
||||
@@ -90,6 +106,53 @@ class TestToyotaInterfaces:
|
||||
assert params.lateralTuning.torque.latAccelFactor == pytest.approx(1.7)
|
||||
assert params.lateralTuning.torque.friction == pytest.approx(0.14)
|
||||
|
||||
def test_sienna_4th_gen_parses_distance_button(self):
|
||||
params = CarInterface.get_params(
|
||||
CAR.TOYOTA_SIENNA_4TH_GEN,
|
||||
{bus: {} for bus in range(8)},
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
parser = CarState.get_can_parsers(params)[Bus.pt]
|
||||
|
||||
assert "PCM_CRUISE_4" in parser.vl
|
||||
|
||||
other_params = CarInterface.get_params(
|
||||
CAR.TOYOTA_RAV4_PRIME,
|
||||
{bus: {} for bus in range(8)},
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
assert "PCM_CRUISE_4" not in CarState.get_can_parsers(other_params)[Bus.pt].vl
|
||||
|
||||
def test_sienna_distance_button_rate_does_not_invalidate_can(self):
|
||||
params = CarInterface.get_params(
|
||||
CAR.TOYOTA_SIENNA_4TH_GEN,
|
||||
{bus: {} for bus in range(8)},
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
|
||||
)
|
||||
parser = CarState.get_can_parsers(params)[Bus.pt]
|
||||
packer = CANPacker(DBC[CAR.TOYOTA_SIENNA_4TH_GEN][Bus.pt])
|
||||
|
||||
for frame in range(1, 4):
|
||||
msg = packer.make_can_msg("PCM_CRUISE_4", 0, {"COUNTER": frame, "DISTANCE": frame % 2})
|
||||
parser.update([(frame * 1_000_000_000, [msg])])
|
||||
assert parser.can_valid
|
||||
|
||||
# The 1 Hz message must not make the whole car state invalid between frames.
|
||||
parser.update([(frame * 1_000_000_000 + 500_000_000, [])])
|
||||
assert parser.can_valid
|
||||
|
||||
def test_tss2_dbc(self):
|
||||
# We make some assumptions about TSS2 platforms,
|
||||
# like looking up certain signals only in this DBC
|
||||
@@ -237,6 +300,36 @@ class TestToyotaInterfaces:
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.ALT_CRUISE.value
|
||||
|
||||
def test_camry_ignores_startup_acc_bus_mirror(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
fingerprint[0][0x343] = 8
|
||||
fingerprint[2][0x343] = 8
|
||||
|
||||
car_params = CarInterface.get_params(
|
||||
CAR.TOYOTA_CAMRY,
|
||||
fingerprint,
|
||||
[CarParams.CarFw(ecu=Ecu.hybrid, address=0x7D2, fwVersion=b"test")],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(),
|
||||
)
|
||||
|
||||
assert car_params.flags & ToyotaFlags.HYBRID.value
|
||||
assert not car_params.flags & ToyotaFlags.DSU_BYPASS.value
|
||||
assert not car_params.openpilotLongitudinalControl
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
|
||||
|
||||
starpilot_params = CarInterface.get_starpilot_params(
|
||||
CAR.TOYOTA_CAMRY, fingerprint, [], car_params, SimpleNamespace(),
|
||||
)
|
||||
car_state = CarState(car_params, starpilot_params)
|
||||
can_parsers = car_state.get_can_parsers(car_params)
|
||||
car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
|
||||
assert "PRE_COLLISION" in can_parsers[Bus.pt].vl
|
||||
for message in ("ACC_CONTROL", "PRE_COLLISION"):
|
||||
assert message not in can_parsers[Bus.cam].vl
|
||||
|
||||
@pytest.mark.parametrize(("native_bus", "message"), [(1, 0x343), (0, 0x4CB)])
|
||||
def test_prius_dsu_bypass_allows_native_bus_message(self, native_bus, message):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
@@ -392,6 +485,15 @@ class TestToyotaInterfaces:
|
||||
|
||||
assert not should_bypass_toyota_long_pid(car_params)
|
||||
|
||||
def test_highlander_sdsu_bypasses_toyota_longitudinal_pid(self):
|
||||
car_params = SimpleNamespace(
|
||||
carFingerprint=CAR.TOYOTA_HIGHLANDER,
|
||||
enableGasInterceptorDEPRECATED=False,
|
||||
)
|
||||
|
||||
assert should_bypass_toyota_long_pid(car_params, SimpleNamespace(has_sdsu=True))
|
||||
assert not should_bypass_toyota_long_pid(car_params, SimpleNamespace(has_sdsu=False))
|
||||
|
||||
def test_camry_continental_radar_converts_absolute_target_speed(self):
|
||||
radar_interface = RadarInterface.__new__(RadarInterface)
|
||||
radar_interface.CP = SimpleNamespace(wheelSpeedFactor=1.0)
|
||||
@@ -727,21 +829,21 @@ class TestToyotaCarController:
|
||||
assert parser.vl["LKAS_HUD"]["LEFT_LINE"] == 0
|
||||
assert parser.vl["LKAS_HUD"]["RIGHT_LINE"] == 0
|
||||
|
||||
def test_acc_control_can_suppress_long_press_behavior_while_gap_button_is_held(self):
|
||||
def test_acc_control_uses_valid_long_press_modes(self):
|
||||
packer = CANPacker(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt])
|
||||
parser = CANParser(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
|
||||
|
||||
default_msg = toyotacan.create_accel_command(
|
||||
normal_msg = toyotacan.create_accel_command(
|
||||
packer, 0.0, False, True, False, False, 1, False, 0, False,
|
||||
)
|
||||
parser.update([(1, [default_msg])])
|
||||
parser.update([(1, [normal_msg])])
|
||||
assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1
|
||||
|
||||
suppressed_msg = toyotacan.create_accel_command(
|
||||
packer, 0.0, False, True, False, False, 1, False, 0, False, allow_long_press=0,
|
||||
reverse_msg = toyotacan.create_accel_command(
|
||||
packer, 0.0, False, True, False, False, 1, False, 0, True,
|
||||
)
|
||||
parser.update([(1, [suppressed_msg])])
|
||||
assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 0
|
||||
parser.update([(1, [reverse_msg])])
|
||||
assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 2
|
||||
|
||||
def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
|
||||
controller = self._make_controller()
|
||||
|
||||
@@ -41,10 +41,9 @@ def create_lta_steer_command_2(packer, frame):
|
||||
|
||||
|
||||
def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert,
|
||||
distance, reverse_cruise_active, allow_long_press=None):
|
||||
distance, reverse_cruise_active):
|
||||
# TODO: find the exact canceling bit that does not create a chime
|
||||
if allow_long_press is None:
|
||||
allow_long_press = 2 if reverse_cruise_active else 1
|
||||
allow_long_press = 2 if reverse_cruise_active else 1
|
||||
|
||||
values = {
|
||||
"ACCEL_CMD": accel,
|
||||
|
||||
@@ -250,6 +250,11 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
|
||||
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
|
||||
)
|
||||
TOYOTA_PRIUS_RETROFIT = PlatformConfig(
|
||||
[ToyotaCommunityCarDocs("Toyota Prius 2016-20 with TSS2 EPS retrofit", package="Custom retrofit")],
|
||||
TOYOTA_PRIUS.specs,
|
||||
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
|
||||
)
|
||||
TOYOTA_PRIUS_V = PlatformConfig(
|
||||
[ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
|
||||
CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
|
||||
@@ -599,9 +604,11 @@ STEER_THRESHOLD = 100
|
||||
|
||||
# These cars have non-standard EPS torque scale factors. All others are 73
|
||||
EPS_SCALE = defaultdict(lambda: 73,
|
||||
{CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.TOYOTA_MATRIX_RETROFIT: 88,
|
||||
{CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_PRIUS_RETROFIT: 73, CAR.TOYOTA_COROLLA: 88, CAR.TOYOTA_MATRIX_RETROFIT: 88,
|
||||
CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
|
||||
|
||||
LEGACY_PRIUS_CAR = frozenset((CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT))
|
||||
|
||||
# Toyota/Lexus Safety Sense 2.0 and 2.5
|
||||
TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ from opendbc.car import Bus, DT_CTRL, structs
|
||||
from opendbc.car.lateral import apply_driver_steer_torque_limits
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
from opendbc.car.volkswagen import mlbcan, mqbcan, pqcan
|
||||
from opendbc.car.volkswagen import mebcan, mlbcan, mqbcan, pqcan
|
||||
from opendbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags
|
||||
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
@@ -19,6 +19,9 @@ class CarController(CarControllerBase):
|
||||
self.packer_pt = CANPacker(dbc_names[Bus.pt])
|
||||
self.aeb_available = not CP.flags & VolkswagenFlags.PQ
|
||||
|
||||
if CP.flags & VolkswagenFlags.MEB:
|
||||
self.meb_long_state = mebcan.MebLongStateMachine(self.CP, self.CCP)
|
||||
|
||||
if CP.flags & VolkswagenFlags.PQ:
|
||||
self.CCS = pqcan
|
||||
elif CP.flags & VolkswagenFlags.MLB:
|
||||
@@ -27,6 +30,11 @@ class CarController(CarControllerBase):
|
||||
self.CCS = mqbcan
|
||||
|
||||
self.apply_torque_last = 0
|
||||
self.apply_curvature_last = 0.
|
||||
self.steering_power_last = 0
|
||||
self.accel_last = 0.
|
||||
self.lead_distance_bars_last = None
|
||||
self.distance_bar_frame = 0
|
||||
self.gra_acc_counter_last = None
|
||||
self.eps_timer_soft_disable_alert = False
|
||||
self.hca_frame_timer_running = 0
|
||||
@@ -40,37 +48,66 @@ class CarController(CarControllerBase):
|
||||
# **** Steering Controls ************************************************ #
|
||||
|
||||
if self.frame % self.CCP.STEER_STEP == 0:
|
||||
# Logic to avoid HCA state 4 "refused":
|
||||
# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
|
||||
# * Don't steer at standstill
|
||||
# * Don't send > 3.00 Newton-meters torque
|
||||
# * Don't send the same torque for > 6 seconds
|
||||
# * Don't send uninterrupted steering for > 360 seconds
|
||||
# MQB racks reset the uninterrupted steering timer after a single frame
|
||||
# of HCA disabled; this is done whenever output happens to be zero.
|
||||
apply_torque = 0
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
if CC.latActive:
|
||||
hca_enabled = True
|
||||
apply_curvature = actuators.curvature + (CS.curvature_meas - CC.currentCurvature)
|
||||
apply_curvature = self.CCP.CURVATURE_LIMITS.apply_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw,
|
||||
CS.curvature_meas, CC.latActive, self.CCP.STEER_STEP)
|
||||
|
||||
if CC.latActive:
|
||||
new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
|
||||
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
|
||||
self.hca_frame_timer_running += self.CCP.STEER_STEP
|
||||
if self.apply_torque_last == apply_torque:
|
||||
self.hca_frame_same_torque += self.CCP.STEER_STEP
|
||||
if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
|
||||
apply_torque -= (1, -1)[apply_torque < 0]
|
||||
self.hca_frame_same_torque = 0
|
||||
min_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN)
|
||||
max_power = min(self.steering_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX)
|
||||
target_power_driver = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
|
||||
[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
|
||||
target_power = int(np.interp(CS.out.vEgo, [0., 0.5], [self.CCP.STEERING_POWER_MIN, target_power_driver]))
|
||||
steering_power = min(max(target_power, min_power), max_power)
|
||||
elif self.steering_power_last > 0:
|
||||
# Wind steering authority down instead of abruptly faulting the EPS at disengagement.
|
||||
hca_enabled = True
|
||||
apply_curvature = float(np.clip(CS.curvature_meas, -self.CCP.CURVATURE_MAX, self.CCP.CURVATURE_MAX))
|
||||
steering_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, 0)
|
||||
else:
|
||||
self.hca_frame_same_torque = 0
|
||||
hca_enabled = abs(apply_torque) > 0
|
||||
hca_enabled = False
|
||||
apply_curvature = 0.
|
||||
steering_power = 0
|
||||
|
||||
can_sends.append(mebcan.create_steering_control(self.packer_pt, self.CAN.pt, apply_curvature, hca_enabled, steering_power))
|
||||
self.apply_curvature_last = apply_curvature
|
||||
self.steering_power_last = steering_power
|
||||
|
||||
else:
|
||||
hca_enabled = False
|
||||
apply_torque = 0
|
||||
# Logic to avoid HCA state 4 "refused":
|
||||
# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
|
||||
# * Don't steer at standstill
|
||||
# * Don't send > 3.00 Newton-meters torque
|
||||
# * Don't send the same torque for > 6 seconds
|
||||
# * Don't send uninterrupted steering for > 360 seconds
|
||||
# MQB racks reset the uninterrupted steering timer after a single frame
|
||||
# of HCA disabled; this is done whenever output happens to be zero.
|
||||
|
||||
if not hca_enabled:
|
||||
self.hca_frame_timer_running = 0
|
||||
if CC.latActive:
|
||||
new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
|
||||
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
|
||||
self.hca_frame_timer_running += self.CCP.STEER_STEP
|
||||
if self.apply_torque_last == apply_torque:
|
||||
self.hca_frame_same_torque += self.CCP.STEER_STEP
|
||||
if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
|
||||
apply_torque -= (1, -1)[apply_torque < 0]
|
||||
self.hca_frame_same_torque = 0
|
||||
else:
|
||||
self.hca_frame_same_torque = 0
|
||||
hca_enabled = abs(apply_torque) > 0
|
||||
else:
|
||||
hca_enabled = False
|
||||
apply_torque = 0
|
||||
|
||||
self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
|
||||
self.apply_torque_last = apply_torque
|
||||
can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled))
|
||||
if not hca_enabled:
|
||||
self.hca_frame_timer_running = 0
|
||||
|
||||
self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
|
||||
self.apply_torque_last = apply_torque
|
||||
can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled))
|
||||
|
||||
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
|
||||
# Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
|
||||
@@ -81,16 +118,29 @@ class CarController(CarControllerBase):
|
||||
ea_simulated_torque = CS.out.steeringTorque
|
||||
can_sends.append(self.CCS.create_eps_update(self.packer_pt, self.CAN.cam, CS.eps_stock_values, ea_simulated_torque))
|
||||
|
||||
if self.CP.flags & VolkswagenFlags.MEB and self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT:
|
||||
if self.frame % self.CCP.KLR_01_STEP == 0:
|
||||
can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.cam, CC.latActive, CS.klr_stock_values))
|
||||
can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.pt, CC.latActive, CS.klr_stock_values))
|
||||
|
||||
# **** Acceleration Controls ******************************************** #
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if self.frame % self.CCP.ACC_CONTROL_STEP == 0:
|
||||
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < starpilot_toggles.vEgoStopping)
|
||||
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
|
||||
acc_control, stopping, starting, CS.esp_hold_confirmation))
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX))
|
||||
accel, acc_status, acc_hold_type, braking_to_stop = self.meb_long_state.update(CS, CC, accel)
|
||||
can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, self.CCP, CS.acc_type, CC.enabled,
|
||||
accel, acc_status, acc_hold_type, braking_to_stop,
|
||||
CS.out.vEgoRaw * CV.MS_TO_KPH, CS.travel_assist_available))
|
||||
else:
|
||||
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < starpilot_toggles.vEgoStopping)
|
||||
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
|
||||
acc_control, stopping, starting, CS.esp_hold_confirmation))
|
||||
self.accel_last = accel
|
||||
|
||||
#if self.aeb_available:
|
||||
# if self.frame % self.CCP.AEB_CONTROL_STEP == 0:
|
||||
@@ -107,16 +157,27 @@ class CarController(CarControllerBase):
|
||||
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive,
|
||||
CS.out.steeringPressed, hud_alert, hud_control))
|
||||
|
||||
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
|
||||
self.distance_bar_frame = self.frame
|
||||
|
||||
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
|
||||
lead_distance = 0
|
||||
if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
|
||||
lead_distance = 512 if CS.upscale_lead_car_signal else 8
|
||||
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
# FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors
|
||||
# FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset
|
||||
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
|
||||
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
|
||||
lead_distance, hud_control.leadDistanceBars))
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
|
||||
show_distance_bars = self.frame - self.distance_bar_frame < 400
|
||||
lead_distance = 8 if hud_control.leadVisible and self.frame * DT_CTRL > 1.0 else 0
|
||||
can_sends.append(mebcan.create_acc_hud_control(self.packer_pt, self.CAN.pt, self.meb_long_state.acc_status,
|
||||
hud_control.setSpeed * CV.MS_TO_KPH, hud_control.leadVisible,
|
||||
hud_control.leadDistanceBars, show_distance_bars, lead_distance, fcw_alert))
|
||||
else:
|
||||
lead_distance = 0
|
||||
if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
|
||||
lead_distance = 512 if CS.upscale_lead_car_signal else 8
|
||||
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
# FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors
|
||||
# FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset
|
||||
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
|
||||
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
|
||||
lead_distance, hud_control.leadDistanceBars))
|
||||
|
||||
# **** Stock ACC Button Controls **************************************** #
|
||||
|
||||
@@ -128,7 +189,11 @@ class CarController(CarControllerBase):
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX
|
||||
new_actuators.torqueOutputCan = self.apply_torque_last
|
||||
if self.CP.flags & VolkswagenFlags.MEB:
|
||||
new_actuators.curvature = self.apply_curvature_last
|
||||
new_actuators.accel = self.accel_last
|
||||
|
||||
self.lead_distance_bars_last = hud_control.leadDistanceBars
|
||||
self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -14,12 +14,16 @@ class CarState(CarStateBase):
|
||||
super().__init__(CP, FPCP)
|
||||
self.frame = 0
|
||||
self.eps_init_complete = False
|
||||
self.tsk_recovery_timer = 0
|
||||
self.CCP = CarControllerParams(CP)
|
||||
self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
|
||||
self.esp_hold_confirmation = False
|
||||
self.upscale_lead_car_signal = False
|
||||
self.eps_stock_values = False
|
||||
self.acc_type = 0
|
||||
self.travel_assist_available = False
|
||||
self.curvature_meas = 0.
|
||||
self.klr_stock_values = {}
|
||||
|
||||
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
|
||||
if not self.CP.pcmCruise:
|
||||
@@ -52,6 +56,8 @@ class CarState(CarStateBase):
|
||||
return self.update_pq(pt_cp, cam_cp, ext_cp)
|
||||
elif self.CP.flags & VolkswagenFlags.MLB:
|
||||
return self.update_mlb(pt_cp, cam_cp, ext_cp)
|
||||
elif self.CP.flags & VolkswagenFlags.MEB:
|
||||
return self.update_meb(pt_cp, cam_cp, ext_cp)
|
||||
|
||||
ret = structs.CarState()
|
||||
|
||||
@@ -143,6 +149,93 @@ class CarState(CarStateBase):
|
||||
|
||||
return ret, fp_ret
|
||||
|
||||
def update_meb(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
|
||||
ret = structs.CarState()
|
||||
|
||||
self.parse_wheel_speeds(ret,
|
||||
pt_cp.vl["ESC_51"]["VL_Radgeschw"],
|
||||
pt_cp.vl["ESC_51"]["VR_Radgeschw"],
|
||||
pt_cp.vl["ESC_51"]["HL_Radgeschw"],
|
||||
pt_cp.vl["ESC_51"]["HR_Radgeschw"],
|
||||
)
|
||||
ret.standstill = ret.vEgoRaw == 0
|
||||
|
||||
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
|
||||
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
|
||||
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
|
||||
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE, 5)
|
||||
self.curvature_meas = -pt_cp.vl["QFK_01"]["Curvature"] * (1, -1)[int(pt_cp.vl["QFK_01"]["Curvature_VZ"])]
|
||||
ret.yawRate = -pt_cp.vl["ESC_50"]["Yaw_Rate"] * (1, -1)[int(pt_cp.vl["ESC_50"]["Yaw_Rate_Sign"])] * CV.DEG_TO_RAD
|
||||
|
||||
if self.CP.flags & VolkswagenFlags.ALT_GEAR:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Gateway_73"]["GE_Fahrstufe"], None))
|
||||
else:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
|
||||
in_drive = ret.gearShifter == GearShifter.drive
|
||||
|
||||
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["QFK_01"]["LatCon_HCA_Status"])
|
||||
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, in_drive)
|
||||
ret.carFaultedNonCritical = cam_cp.vl["EA_01"]["EA_Funktionsstatus"] in (3, 4, 5, 6)
|
||||
|
||||
ret.gasPressed = pt_cp.vl["Motor_51"]["Accel_Pedal_Pressure"] > 0
|
||||
ret.brakePressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
|
||||
ret.parkingBrake = pt_cp.vl["ESC_50"]["EPB_Status"] in (1, 4)
|
||||
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
|
||||
doors = pt_cp.vl["ZV_02"] if bool(pt_cp.vl["Gateway_72"]["ZV_02_alt"]) else pt_cp.vl["Gateway_72"]
|
||||
ret.doorOpen = any([doors["ZV_FT_offen"], doors["ZV_BT_offen"], doors["ZV_HFS_offen"],
|
||||
doors["ZV_HBFS_offen"], doors["ZV_HD_offen"]])
|
||||
ret.espDisabled = bool(pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"])
|
||||
ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
|
||||
|
||||
self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
|
||||
self.esp_hold_confirmation = bool(pt_cp.vl["ESC_50"]["Standstill"])
|
||||
self.travel_assist_available = bool(cam_cp.vl["TA_01"]["Travel_Assist_Available"])
|
||||
ret.stockFcw = bool(ext_cp.vl["AWV_03"]["FCW_Active"])
|
||||
ret.stockAeb = bool(ext_cp.vl["AWV_03"]["AEB_Active"])
|
||||
|
||||
ret.cruiseState.available = pt_cp.vl["Motor_51"]["TSK_Status"] in (2, 3, 4, 5)
|
||||
ret.cruiseState.enabled = pt_cp.vl["Motor_51"]["TSK_Status"] in (3, 4, 5)
|
||||
ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
|
||||
if self.CP.pcmCruise:
|
||||
ret.cruiseState.nonAdaptive = bool(ext_cp.vl["ACC_19"]["ACC_Limiter_Mode"])
|
||||
ret.cruiseState.speed = ext_cp.vl["ACC_19"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
|
||||
if ret.cruiseState.speed > 90:
|
||||
ret.cruiseState.speed = 0
|
||||
else:
|
||||
ret.cruiseState.nonAdaptive = bool(pt_cp.vl["Motor_51"]["TSK_Limiter_ausgewaehlt"])
|
||||
|
||||
tsk_faulted = pt_cp.vl["Motor_51"]["TSK_Status"] in (6, 7)
|
||||
engine_off = pt_cp.vl["Motor_54"]["Engine_On"] == 0
|
||||
long_control_inhibit = pt_cp.vl["VMM_02"]["Long_Control_Inhibit"] == 2
|
||||
ret.accFaulted = (self.update_acc_fault(tsk_faulted, engine_off, long_control_inhibit) or
|
||||
ext_cp.vl["ACC_18"]["ACC_Status_ACC"] == 6)
|
||||
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(240, pt_cp.vl["SMLS_01"]["BH_Blinker_li"],
|
||||
pt_cp.vl["SMLS_01"]["BH_Blinker_re"])
|
||||
|
||||
if self.CP.enableBsm:
|
||||
if self.CP.flags & VolkswagenFlags.MEB_GEN2:
|
||||
ret.leftBlindspot = (bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Driver"]) or
|
||||
bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Driver"]))
|
||||
ret.rightBlindspot = (bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Passenger"]) or
|
||||
bool(pt_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Passenger"]))
|
||||
else:
|
||||
ret.leftBlindspot = (bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Left"]) or
|
||||
bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Left"]))
|
||||
ret.rightBlindspot = (bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Right"]) or
|
||||
bool(ext_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Right"]))
|
||||
|
||||
self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
|
||||
self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
|
||||
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
|
||||
self.klr_stock_values = pt_cp.vl["KLR_01"] if self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT else {}
|
||||
|
||||
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
|
||||
ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)
|
||||
|
||||
self.frame += 1
|
||||
return ret, custom.StarPilotCarState.new_message()
|
||||
|
||||
def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
|
||||
ret = structs.CarState()
|
||||
|
||||
@@ -318,10 +411,19 @@ class CarState(CarStateBase):
|
||||
temp_fault = drive_mode and hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
|
||||
return temp_fault, perm_fault
|
||||
|
||||
def update_acc_fault(self, acc_fault, engine_off, long_inhibit, recovery_frames=10):
|
||||
# MEB briefly reports a drivetrain coordinator fault while the car powers down
|
||||
# or after hard braking. Ignore only the short trailing state from those events.
|
||||
if engine_off or long_inhibit:
|
||||
self.tsk_recovery_timer = self.frame
|
||||
return acc_fault and self.frame - self.tsk_recovery_timer >= recovery_frames
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP):
|
||||
if CP.flags & VolkswagenFlags.PQ:
|
||||
return CarState.get_can_parsers_pq(CP)
|
||||
elif CP.flags & VolkswagenFlags.MEB:
|
||||
return CarState.get_can_parsers_meb(CP)
|
||||
|
||||
# manually configure some optional and variable-rate/edge-triggered messages
|
||||
pt_messages, cam_messages = [], []
|
||||
@@ -346,3 +448,21 @@ class CarState(CarStateBase):
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).cam),
|
||||
}
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers_meb(CP):
|
||||
pt_messages = [
|
||||
("Blinkmodi_02", 1),
|
||||
("SMLS_01", 1),
|
||||
]
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
pt_messages.append(("AWV_03", 1))
|
||||
|
||||
cam_messages = []
|
||||
if CP.networkLocation == NetworkLocation.gateway:
|
||||
cam_messages.append(("AWV_03", 1))
|
||||
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).cam),
|
||||
}
|
||||
|
||||
@@ -8,6 +8,71 @@ Ecu = CarParams.Ecu
|
||||
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.VOLKSWAGEN_ID3_MK1: {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x871EA959655CD\xf1\x890366',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.VOLKSWAGEN_ID3_MK2: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907567D \xf1\x890250',
|
||||
],
|
||||
},
|
||||
CAR.VOLKSWAGEN_ID4_MK1: {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x871EA959655EA\xf1\x890376',
|
||||
b'\xf1\x875WA959655R \xf1\x890717',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x871EA907144AQ\xf1\x895033\xf1\x82\x000_BH0A0_ON',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.VOLKSWAGEN_ID4_MK2: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907567D \xf1\x890250',
|
||||
b'\xf1\x871EA907567C \xf1\x890099',
|
||||
],
|
||||
},
|
||||
CAR.AUDI_Q4_MK1: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.AUDI_Q4_MK2: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907567B \xf1\x890232',
|
||||
],
|
||||
},
|
||||
CAR.CUPRA_BORN_MK1: {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x871EA959655EH\xf1\x890381',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x871EA907144AQ\xf1\x895033',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.SKODA_ENYAQ_MK1: {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x871EA959655EA\xf1\x890376',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907572H \xf1\x890234',
|
||||
],
|
||||
},
|
||||
CAR.SKODA_ENYAQ_MK2: {
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x871EA907567B \xf1\x890232',
|
||||
],
|
||||
},
|
||||
CAR.VOLKSWAGEN_ARTEON_MK1: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8704L906026TM\xf1\x896847',
|
||||
|
||||
@@ -1,13 +1,15 @@
|
||||
from opendbc.car import get_safety_config, structs
|
||||
from opendbc.car import Bus, get_safety_config, structs
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.car.volkswagen.carcontroller import CarController
|
||||
from opendbc.car.volkswagen.carstate import CarState
|
||||
from opendbc.car.volkswagen.values import CanBus, CAR, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
|
||||
from opendbc.car.volkswagen.radar_interface import RadarInterface
|
||||
from opendbc.car.volkswagen.values import CanBus, CAR, DBC, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
@@ -44,6 +46,37 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.dashcamOnly = True # Pending HCA timeout fix, safety validation, harness termination, install procedure
|
||||
|
||||
elif ret.flags & VolkswagenFlags.MEB:
|
||||
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMeb)]
|
||||
if ret.flags & VolkswagenFlags.MEB_GEN2:
|
||||
safety_configs[0].safetyParam |= VolkswagenSafetyFlags.MEB_ALT_CRC.value
|
||||
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
ret.steerControlType = structs.CarParams.SteerControlType.curvatureDEPRECATED
|
||||
ret.steerAtStandstill = True
|
||||
|
||||
ret.lateralTuning.init('pid')
|
||||
ret.lateralTuning.pid.kpBP = [10., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 1.45]
|
||||
ret.lateralTuning.pid.kiBP = [10., 40.]
|
||||
ret.lateralTuning.pid.kiV = [0., 0.12]
|
||||
ret.lateralTuning.pid.kf = 1.
|
||||
|
||||
if docs or any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.radarUnavailable = Bus.radar not in DBC[candidate]
|
||||
else:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
|
||||
ret.enableBsm = 0x24C in fingerprint[0]
|
||||
if 0x25D in fingerprint[0]:
|
||||
ret.flags |= VolkswagenFlags.STOCK_KLR_PRESENT.value
|
||||
if 0x3DC in fingerprint[0]:
|
||||
ret.flags |= VolkswagenFlags.ALT_GEAR.value
|
||||
|
||||
# MEB support requires the J533 gateway harness; camera installations remain passive.
|
||||
ret.dashcamOnly = ret.networkLocation == NetworkLocation.fwdCamera
|
||||
|
||||
else:
|
||||
# Set global MQB parameters
|
||||
safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
|
||||
@@ -72,6 +105,8 @@ class CarInterface(CarInterfaceBase):
|
||||
if ret.flags & VolkswagenFlags.PQ or ret.flags & VolkswagenFlags.MLB:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
elif ret.flags & VolkswagenFlags.MEB:
|
||||
ret.steerActuatorDelay = 0.3
|
||||
else:
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.lateralTuning.pid.kpBP = [0.]
|
||||
@@ -82,9 +117,14 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# Global longitudinal tuning defaults, can be overridden per-vehicle
|
||||
|
||||
if ret.flags & VolkswagenFlags.MEB:
|
||||
ret.longitudinalActuatorDelay = 0.5
|
||||
ret.longitudinalTuning.kiBP = [0., 30.]
|
||||
ret.longitudinalTuning.kiV = [0.4, 0.]
|
||||
|
||||
ret.alphaLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
|
||||
if alpha_long:
|
||||
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
|
||||
if alpha_long and (not ret.flags & VolkswagenFlags.MEB or ret.alphaLongitudinalAvailable):
|
||||
# Panda ALLOW_DEBUG firmware is required for Volkswagen longitudinal control.
|
||||
ret.openpilotLongitudinalControl = True
|
||||
safety_configs[0].safetyParam |= VolkswagenSafetyFlags.LONG_CONTROL.value
|
||||
if ret.transmissionType == TransmissionType.manual:
|
||||
|
||||
@@ -0,0 +1,277 @@
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.can import CANDefine
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.volkswagen.values import DBC
|
||||
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def create_steering_control(packer, bus, apply_curvature, lkas_enabled, power=0):
|
||||
values = {
|
||||
"Curvature": abs(apply_curvature), # in rad/m
|
||||
"Curvature_VZ": 1 if apply_curvature > 0 and lkas_enabled else 0,
|
||||
"Power": power if lkas_enabled else 0,
|
||||
"RequestStatus": 4 if lkas_enabled else 2,
|
||||
"HighSendRate": lkas_enabled,
|
||||
}
|
||||
return packer.make_can_msg("HCA_03", bus, values)
|
||||
|
||||
|
||||
def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
|
||||
values = {s: eps_stock_values[s] for s in [
|
||||
"COUNTER", # Sync counter value to EPS output
|
||||
"EPS_Lenkungstyp", # EPS rack type
|
||||
"EPS_Berechneter_LW", # Absolute raw steering angle
|
||||
"EPS_VZ_BLW", # Raw steering angle sign
|
||||
"EPS_HCA_Status", # EPS HCA control status
|
||||
]}
|
||||
|
||||
values.update({
|
||||
# Absolute driver torque input and sign, with EA inactivity mitigation
|
||||
"EPS_Lenkmoment": abs(ea_simulated_torque),
|
||||
"EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0,
|
||||
})
|
||||
|
||||
return packer.make_can_msg("LH_EPS_03", bus, values)
|
||||
|
||||
|
||||
def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control, sound_alert=False):
|
||||
display_mode = 1 if lat_active else 0 # travel assist style showing yellow lanes when op is active
|
||||
|
||||
values = {}
|
||||
if len(ldw_stock_values):
|
||||
values = {s: ldw_stock_values[s] for s in [
|
||||
"LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure
|
||||
"LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure
|
||||
"LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right)
|
||||
"LDW_DLC", # Lane departure, distance to line crossing
|
||||
"LDW_TLC", # Lane departure, time to line crossing
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"LDW_Gong": sound_alert,
|
||||
"LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
|
||||
"LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
|
||||
"LDW_Lernmodus_links": 3 + display_mode if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible + display_mode,
|
||||
"LDW_Lernmodus_rechts": 3 + display_mode if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible + display_mode,
|
||||
"LDW_Texte": hud_alert,
|
||||
})
|
||||
return packer.make_can_msg("LDW_02", bus, values)
|
||||
|
||||
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False, up=False, down=False):
|
||||
values = {s: gra_stock_values[s] for s in [
|
||||
"GRA_Hauptschalter", # ACC button, on/off
|
||||
"GRA_Typ_Hauptschalter", # ACC main button type
|
||||
"GRA_Codierung", # ACC button configuration/coding
|
||||
"GRA_Tip_Stufe_2", # unknown related to stalk type
|
||||
"GRA_ButtonTypeInfo", # unknown related to stalk type
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
|
||||
"GRA_Abbrechen": cancel,
|
||||
"GRA_Tip_Wiederaufnahme": resume or up,
|
||||
"GRA_Tip_Setzen": down,
|
||||
})
|
||||
return packer.make_can_msg("GRA_ACC_01", bus, values)
|
||||
|
||||
|
||||
ACC_HUD_ERROR = 6
|
||||
ACC_HUD_OVERRIDE = 4
|
||||
ACC_HUD_ACTIVE = 3
|
||||
ACC_HUD_ENABLED = 2
|
||||
ACC_HUD_DISABLED = 0
|
||||
|
||||
|
||||
class MebLongStateMachine:
|
||||
HOLD_RELEASE_SPEED = 5 * CV.KPH_TO_MS
|
||||
|
||||
def __init__(self, CP, CCP):
|
||||
self.CCP = CCP
|
||||
self.RAMP_FRAMES = 10 // CCP.ACC_CONTROL_STEP # 100 ms
|
||||
|
||||
self.disengage_ramp_counter = 0 # always ramp when disengaging
|
||||
|
||||
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
|
||||
self.acc_status_vals = {v: k for k, v in can_define.dv['ACC_18']['ACC_Status_ACC'].items()}
|
||||
self.acc_hold_type_vals = {v: k for k, v in can_define.dv['ACC_18']['ACC_Anforderung_HMS'].items()}
|
||||
|
||||
self.prev_acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG'] # no request
|
||||
self.acc_status = self.acc_status_vals['ACC_OFF_HAUPTSCHALTER_AUS'] # last acc status, read by HUD msg
|
||||
|
||||
def _get_acc_status(self, CS, CC) -> int:
|
||||
# stateless
|
||||
# NOTE: stock TSK and camera goes to 5 on disengage independently which we don't model, but hasn't been shown to fault without it
|
||||
if CS.out.accFaulted:
|
||||
return self.acc_status_vals['REVERSIBLER_FEHLER_IM_ACC_SYSTEM']
|
||||
elif CC.enabled:
|
||||
return self.acc_status_vals['ACC_OVERRIDE' if CC.cruiseControl.override else 'ACC_AKTIV_REGELT']
|
||||
elif CS.out.cruiseState.available:
|
||||
return self.acc_status_vals['ACC_STANDBY']
|
||||
else:
|
||||
return self.acc_status_vals['ACC_OFF_HAUPTSCHALTER_AUS'] # disabled
|
||||
|
||||
def _get_hold_type(self, CS, CC) -> int:
|
||||
# warning: car is reacting to hold mechanic even with long control off
|
||||
# HALTEN -> KEINE_ANFORDERUNG causes the car to fault into park, so both branches below put a ramp in
|
||||
# between: disengaging always ramps, and while engaged a release ramps until 5 kph
|
||||
# NOTE: this allows KEINE_ANFORDERUNG -> ANFAHREN, but we haven't observed a fault due to this yet
|
||||
# TODO: camera can send 7 on disengage at a stop which we don't fully understand yet
|
||||
stopping = CC.actuators.longControlState == LongCtrlState.stopping
|
||||
starting = CC.actuators.longControlState == LongCtrlState.pid and CS.esp_hold_confirmation
|
||||
long_active = CC.longActive and not CS.out.accFaulted # catches it one frame earlier, not sure if needed
|
||||
|
||||
if not long_active:
|
||||
# Stock goes to RAMP for as long as TSK_Status is 5 usually, 100ms seems fine to mimic that behavior.
|
||||
# Stock stays active for gas press, but we go inactive
|
||||
if self.disengage_ramp_counter > 0:
|
||||
acc_hold_type = self.acc_hold_type_vals['LOESEN_UEBER_RAMPE'] # ramp
|
||||
self.disengage_ramp_counter -= 1
|
||||
else:
|
||||
acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG'] # no request
|
||||
|
||||
else:
|
||||
was_engaged = self.disengage_ramp_counter == self.RAMP_FRAMES
|
||||
self.disengage_ramp_counter = self.RAMP_FRAMES # prep ramp if we disengage
|
||||
|
||||
if stopping:
|
||||
acc_hold_type = self.acc_hold_type_vals['HALTEN'] # stopping/stopped, allowed at any time
|
||||
elif starting:
|
||||
acc_hold_type = self.acc_hold_type_vals['ANFAHREN'] # resume after reaching full stop
|
||||
else:
|
||||
# After aborting a stop or finishing starting, we need to send RAMP until we hit 5 kph or go long inactive,
|
||||
# only if we didn't just re-engage
|
||||
releasing = was_engaged and self.prev_acc_hold_type in (self.acc_hold_type_vals['HALTEN'],
|
||||
self.acc_hold_type_vals['ANFAHREN'],
|
||||
self.acc_hold_type_vals['LOESEN_UEBER_RAMPE'])
|
||||
|
||||
if releasing and CS.out.vEgo < self.HOLD_RELEASE_SPEED:
|
||||
acc_hold_type = self.acc_hold_type_vals['LOESEN_UEBER_RAMPE'] # ramp
|
||||
else:
|
||||
acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG'] # no request
|
||||
|
||||
return acc_hold_type
|
||||
|
||||
def update(self, CS, CC, accel) -> tuple[float, int, int, bool]:
|
||||
acc_status = self._get_acc_status(CS, CC)
|
||||
acc_hold_type = self._get_hold_type(CS, CC)
|
||||
|
||||
# transition to inactive accel and jerks as soon as we enter ESP standstill
|
||||
requesting_hold = acc_hold_type == self.acc_hold_type_vals['HALTEN']
|
||||
held = requesting_hold and CS.esp_hold_confirmation
|
||||
if not CC.enabled or held:
|
||||
accel = self.CCP.ACCEL_INACTIVE
|
||||
|
||||
# hold requested but the car hasn't reached standstill yet
|
||||
braking_to_stop = requesting_hold and not CS.esp_hold_confirmation
|
||||
|
||||
self.prev_acc_hold_type = acc_hold_type
|
||||
self.acc_status = acc_status
|
||||
return accel, acc_status, acc_hold_type, braking_to_stop
|
||||
|
||||
|
||||
def create_acc_accel_control(packer, bus, CCP, acc_type, acc_enabled, accel, acc_status, acc_hold_type,
|
||||
braking_to_stop, speed, travel_assist_available):
|
||||
# active longitudinal control disables one pedal driving (regen mode) while using overriding mechanism
|
||||
# error mitigation when stopping or stopped: (newer gen cars can be very sensitive)
|
||||
# - send 0 m stopping distance for cars in kind of parameterized stopping mode (stopping accel -0.2 seen for those cars)
|
||||
# -> this mode is seen for different cars with same firmware radars so could be a coded operational mode
|
||||
# - jerk and control limits values set inactive together when fully stopped
|
||||
# - set accel to 0 / no stop accel for full stop (seems to be compatible with old (non 0 stop accel) and new gen, because HMS state holds the car anyways)
|
||||
# - stopping command sent while requesting stop but ESP is not in standstill
|
||||
commands = []
|
||||
|
||||
# ACC_Anhalteweg: when stopping: MEB: values <> 0 the car can execute a hard brake probably if target is too close, MQBEvo: value 0 results in hard brake
|
||||
terminal_rollout = 0
|
||||
|
||||
values = {
|
||||
"ACC_Typ": acc_type,
|
||||
"ACC_Status_ACC": acc_status,
|
||||
"ACC_StartStopp_Info": acc_enabled,
|
||||
"ACC_Sollbeschleunigung_02": accel,
|
||||
"ACC_zul_Regelabw_unten": 0,
|
||||
"ACC_zul_Regelabw_oben": 0,
|
||||
"ACC_neg_Sollbeschl_Grad_02": CCP.JERK_LIMIT if accel != CCP.ACCEL_INACTIVE else 0,
|
||||
"ACC_pos_Sollbeschl_Grad_02": CCP.JERK_LIMIT if accel != CCP.ACCEL_INACTIVE else 0,
|
||||
"ACC_Anfahren": 0, # always zero, stock uses ACC_Anforderung_HMS
|
||||
"ACC_Anhalten": 1 if braking_to_stop else 0,
|
||||
"ACC_Anhalteweg": terminal_rollout if braking_to_stop else 20.46,
|
||||
"ACC_Anforderung_HMS": acc_hold_type,
|
||||
"ACC_AKTIV_regelt": 0, # always zero, stock uses ACC_Status_ACC
|
||||
"Speed": speed,
|
||||
"SET_ME_0XFE": 0xFE,
|
||||
"SET_ME_0X1": 0x1,
|
||||
"SET_ME_0X9": 0x9,
|
||||
}
|
||||
|
||||
commands.append(packer.make_can_msg("ACC_18", bus, values))
|
||||
|
||||
if travel_assist_available:
|
||||
# satisfy car to prevent errors when pressing Travel Assist Button
|
||||
values_ta = {
|
||||
"Travel_Assist_Status": 4 if acc_enabled else 2,
|
||||
"Travel_Assist_Request": 0,
|
||||
"Travel_Assist_Available": 1,
|
||||
}
|
||||
|
||||
commands.append(packer.make_can_msg("TA_01", bus, values_ta))
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible, distance_bars, show_distance_bars, distance, fcw_alert):
|
||||
values = {
|
||||
"ACC_Status_ACC": acc_status,
|
||||
"ACC_Tempolimit": 0,
|
||||
"ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
|
||||
"ACC_Gesetzte_Zeitluecke": distance_bars, # 5 distance bars available (3 are used by OP)
|
||||
"ACC_Display_Prio": 0 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 1, # probably keeping warning in front
|
||||
"ACC_Optischer_Fahrerhinweis": 1 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # enables optical warning
|
||||
"ACC_Akustischer_Fahrerhinweis": 3 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # enables sound warning
|
||||
"ACC_Texte_Zusatzanz_02": 11 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # type of warning: Break!
|
||||
"ACC_Abstandsindex_02": 569, # seems to be default for MEB but is not static in every case
|
||||
"ACC_EGO_Fahrzeug": 2 if fcw_alert and acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else
|
||||
(1 if acc_status == ACC_HUD_ACTIVE else 0), # red car warn symbol for fcw
|
||||
"Lead_Type_Detected": 1 if lead_visible else 0, # object should be displayed
|
||||
"Lead_Type": 3 if lead_visible else 0, # displaying a car
|
||||
"Lead_Distance": distance if lead_visible else 0, # hud distance of object
|
||||
"ACC_Enabled": 1 if acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0,
|
||||
"ACC_Standby_Override": 1 if acc_status != ACC_HUD_ACTIVE else 0,
|
||||
"Street_Color": 1 if acc_status in (ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # light grey (1) or dark (0) street
|
||||
"Lead_Brightness": 3 if acc_status == ACC_HUD_ACTIVE else 0, # object shows in color
|
||||
# TODO: a nice speed dependent bar distance
|
||||
"Zeitluecke_1": 0, # desired distance to lead object for distance bar 1
|
||||
"Zeitluecke_2": 0, # desired distance to lead object for distance bar 2
|
||||
"Zeitluecke_3": 0, # desired distance to lead object for distance bar 3
|
||||
"Zeitluecke_4": 0, # desired distance to lead object for distance bar 4
|
||||
"Zeitluecke_5": 0, # desired distance to lead object for distance bar 5
|
||||
"Zeitluecke_Farbe": 1 if acc_status in (ACC_HUD_ENABLED, ACC_HUD_ACTIVE, ACC_HUD_OVERRIDE) else 0, # yellow (1) or white (0) time gap
|
||||
"ACC_Anzeige_Zeitluecke": show_distance_bars if acc_status != ACC_HUD_DISABLED else 0, # show distance bar selection
|
||||
"SET_ME_0X1": 0x1, # unknown
|
||||
"SET_ME_0X6A": 0x6A, # unknown
|
||||
"SET_ME_0XFFFF": 0xFFFF, # unknown
|
||||
"SET_ME_0X7FFF": 0x7FFF, # unknown
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ACC_19", bus, values)
|
||||
|
||||
|
||||
def create_capacitive_wheel_touch(packer, bus, lat_active, klr_stock_values):
|
||||
values = {s: klr_stock_values[s] for s in [
|
||||
"COUNTER",
|
||||
"KLR_Touchintensitaet_1",
|
||||
"KLR_Touchintensitaet_2",
|
||||
"KLR_Touchintensitaet_3",
|
||||
"KLR_Touchauswertung",
|
||||
]}
|
||||
|
||||
if lat_active:
|
||||
values.update({
|
||||
"COUNTER": (klr_stock_values["COUNTER"] + 1) % 16,
|
||||
"KLR_Touchintensitaet_1": 80,
|
||||
"KLR_Touchintensitaet_2": 200,
|
||||
"KLR_Touchintensitaet_3": 10,
|
||||
"KLR_Touchauswertung": 10,
|
||||
})
|
||||
return packer.make_can_msg("KLR_01", bus, values)
|
||||
@@ -0,0 +1,85 @@
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.interfaces import RadarInterfaceBase
|
||||
from opendbc.car.volkswagen.values import DBC, VolkswagenFlags, CanBus
|
||||
|
||||
NO_OBJECT_ID = 0
|
||||
LANE_TYPES = ("Same_Lane", "Left_Lane", "Right_Lane")
|
||||
SIGNAL_SETS = tuple(
|
||||
(
|
||||
f"{prefix}_ObjectID",
|
||||
f"{prefix}_Long_Distance",
|
||||
f"{prefix}_Lat_Distance",
|
||||
f"{prefix}_Rel_Velo",
|
||||
)
|
||||
for lane in LANE_TYPES
|
||||
for idx in (1, 2)
|
||||
for prefix in (f"{lane}_0{idx}",)
|
||||
)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
|
||||
# With the MEB gateway harness, we do not have access to the raw points from the radar.
|
||||
# However, the camera publishes decent, albeit filtered, tracks. Two for each lane; left, center, and right.
|
||||
self.rcp: CANParser | None = None
|
||||
if CP.flags & VolkswagenFlags.MEB and not self.CP.radarUnavailable:
|
||||
self.rcp = CANParser(DBC[CP.carFingerprint][Bus.radar], [("MEB_Distance_01", 25)], CanBus(CP).cam)
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None:
|
||||
return super().update(None)
|
||||
|
||||
self.rcp.update(can_strings)
|
||||
|
||||
if len(self.rcp.vl_all["MEB_Distance_01"]["Distance_Status"]) == 0:
|
||||
return None
|
||||
|
||||
return self._update()
|
||||
|
||||
def _update(self):
|
||||
ret = structs.RadarData()
|
||||
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
return ret
|
||||
|
||||
msg = self.rcp.vl["MEB_Distance_01"]
|
||||
|
||||
# Can be 3 when radar sensor is obstructed
|
||||
if msg["Distance_Status"] != 0:
|
||||
ret.errors.radarUnavailableTemporary = True
|
||||
|
||||
seen_ids = set()
|
||||
for obj_id_sig, long_sig, lat_sig, vel_sig in SIGNAL_SETS:
|
||||
obj_id = int(msg[obj_id_sig])
|
||||
if obj_id == NO_OBJECT_ID:
|
||||
continue
|
||||
|
||||
# We shouldn't see duplicate track ids
|
||||
if obj_id in seen_ids:
|
||||
ret.errors.radarFault = True
|
||||
return ret
|
||||
|
||||
seen_ids.add(obj_id)
|
||||
|
||||
if obj_id not in self.pts:
|
||||
pt = structs.RadarData.RadarPoint()
|
||||
pt.trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[obj_id] = pt
|
||||
else:
|
||||
pt = self.pts[obj_id]
|
||||
|
||||
pt.dRel = msg[long_sig]
|
||||
pt.yRel = msg[lat_sig]
|
||||
pt.vRel = msg[vel_sig]
|
||||
|
||||
inactive_ids = self.pts.keys() - seen_ids
|
||||
for obj_id in inactive_ids:
|
||||
self.pts.pop(obj_id, None)
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
return ret
|
||||
@@ -3,7 +3,7 @@ import re
|
||||
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.volkswagen.interface import CarInterface
|
||||
from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI
|
||||
from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI, VolkswagenFlags, VolkswagenSafetyFlags
|
||||
from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
@@ -14,6 +14,52 @@ SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P<gateway>[0-9][0-9A-Z]{2})(?P<un
|
||||
|
||||
|
||||
class TestVolkswagenPlatformConfigs:
|
||||
MEB_CARS = {car for car in CAR if car.config.flags & VolkswagenFlags.MEB}
|
||||
|
||||
@staticmethod
|
||||
def _get_meb_params(car, gateway=True, alpha_long=False):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
if gateway:
|
||||
fingerprint[1][0x13D] = 32
|
||||
return CarInterface.get_params(car, fingerprint, [], alpha_long, False, False, None)
|
||||
|
||||
def test_meb_platform_params(self):
|
||||
for car in self.MEB_CARS:
|
||||
cp = self._get_meb_params(car)
|
||||
assert cp.flags & VolkswagenFlags.MEB
|
||||
assert cp.transmissionType == CarParams.TransmissionType.direct
|
||||
assert cp.steerControlType == CarParams.SteerControlType.curvatureDEPRECATED
|
||||
assert cp.steerAtStandstill
|
||||
assert cp.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.volkswagenMeb
|
||||
assert not cp.dashcamOnly
|
||||
assert not cp.radarUnavailable
|
||||
|
||||
has_gen2_crc = bool(cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.MEB_ALT_CRC)
|
||||
assert has_gen2_crc == bool(car.config.flags & VolkswagenFlags.MEB_GEN2)
|
||||
|
||||
def test_meb_camera_harness_is_passive(self):
|
||||
cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=False, alpha_long=True)
|
||||
assert cp.dashcamOnly
|
||||
assert cp.radarUnavailable
|
||||
assert not cp.alphaLongitudinalAvailable
|
||||
assert not cp.openpilotLongitudinalControl
|
||||
assert not (cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL)
|
||||
|
||||
def test_meb_docs_assume_required_gateway_harness(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
cp = CarInterface.get_params(CAR.VOLKSWAGEN_ID4_MK1, fingerprint, [], True, False, True, None)
|
||||
|
||||
assert cp.networkLocation == CarParams.NetworkLocation.gateway
|
||||
assert not cp.dashcamOnly
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
|
||||
def test_meb_gateway_longitudinal(self):
|
||||
cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=True, alpha_long=True)
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
assert cp.openpilotLongitudinalControl
|
||||
assert not cp.pcmCruise
|
||||
assert cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL
|
||||
|
||||
def test_taos_longitudinal_actuator_delay(self):
|
||||
taos_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_TAOS_MK1)
|
||||
golf_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_GOLF_MK7)
|
||||
@@ -37,32 +83,39 @@ class TestVolkswagenPlatformConfigs:
|
||||
assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in
|
||||
platform.config.chassis_codes), "Bad chassis codes"
|
||||
|
||||
# No two platforms should share chassis codes
|
||||
# Shared MEB chassis codes are valid only when VIN model-year sets are disjoint.
|
||||
for comp in CAR:
|
||||
if platform == comp:
|
||||
continue
|
||||
assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \
|
||||
f"Shared chassis codes: {comp}"
|
||||
shared_chassis = platform.config.chassis_codes & comp.config.chassis_codes
|
||||
if shared_chassis:
|
||||
both_meb = platform.config.flags & VolkswagenFlags.MEB and comp.config.flags & VolkswagenFlags.MEB
|
||||
disjoint_years = (getattr(platform.config, "model_years", set()) and getattr(comp.config, "model_years", set()) and
|
||||
not platform.config.model_years & comp.config.model_years)
|
||||
assert both_meb and disjoint_years, f"Shared chassis codes: {comp}"
|
||||
|
||||
def test_custom_fuzzy_fingerprinting(self, subtests):
|
||||
all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})
|
||||
|
||||
for platform in CAR:
|
||||
with subtests.test(platform=platform.name):
|
||||
model_years = getattr(platform.config, "model_years", set()) or {"0"}
|
||||
for wmi in WMI:
|
||||
for chassis_code in platform.config.chassis_codes | {"00"}:
|
||||
vin = ["0"] * 17
|
||||
vin[0:3] = wmi
|
||||
vin[6:8] = chassis_code
|
||||
vin = "".join(vin)
|
||||
for model_year in model_years:
|
||||
vin = ["0"] * 17
|
||||
vin[0:3] = wmi
|
||||
vin[6:8] = chassis_code
|
||||
vin[9] = model_year
|
||||
vin = "".join(vin)
|
||||
|
||||
# Check a few FW cases - expected, unexpected
|
||||
for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
|
||||
should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
|
||||
radar_fw in all_radar_fw)
|
||||
# Check a few FW cases - expected, unexpected
|
||||
for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
|
||||
should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
|
||||
radar_fw in all_radar_fw)
|
||||
|
||||
live_fws = {(0x757, None): [radar_fw]}
|
||||
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
|
||||
live_fws = {(0x757, None): [radar_fw]}
|
||||
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
|
||||
|
||||
expected_matches = {platform} if should_match else set()
|
||||
assert expected_matches == matches, "Bad match"
|
||||
expected_matches = {platform} if should_match else set()
|
||||
assert expected_matches == matches, "Bad match"
|
||||
|
||||
@@ -3,6 +3,7 @@ from dataclasses import dataclass, field
|
||||
from enum import Enum, IntFlag, StrEnum
|
||||
|
||||
from opendbc.car import Bus, CanBusBase, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
|
||||
from opendbc.car.lateral import CurvatureSteeringLimits
|
||||
from opendbc.can import CANDefine
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
|
||||
@@ -101,6 +102,40 @@ class CarControllerParams:
|
||||
"laneAssistDeactivTrailer": 5, # "Lane Assist: no function with trailer"
|
||||
}
|
||||
|
||||
elif CP.flags & VolkswagenFlags.MEB:
|
||||
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
self.ACC_HUD_STEP = 6
|
||||
self.KLR_01_STEP = 6 # KLR_01 message frequency 17Hz
|
||||
self.STEER_DRIVER_ALLOWANCE = 100 # Begin reducing steering power at 1.0 Nm driver torque
|
||||
self.STEER_DRIVER_MAX = 300 # Reach minimum steering power at 3.0 Nm driver torque
|
||||
self.STEERING_POWER_MAX = 50
|
||||
self.STEERING_POWER_MIN = 4
|
||||
self.STEERING_POWER_STEP = 2
|
||||
|
||||
self.CURVATURE_MAX = 0.195
|
||||
self.CURVATURE_LIMITS = CurvatureSteeringLimits(self.CURVATURE_MAX)
|
||||
|
||||
self.ACCEL_INACTIVE = 3.01
|
||||
self.JERK_LIMIT = 4.0
|
||||
|
||||
self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
|
||||
self.hca_status_values = can_define.dv["QFK_01"]["LatCon_HCA_Status"]
|
||||
|
||||
self.BUTTONS = [
|
||||
Button(structs.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [3]),
|
||||
]
|
||||
|
||||
self.LDW_MESSAGES = {
|
||||
"none": 0,
|
||||
"laneAssistTakeOverUrgent": 4,
|
||||
"laneAssistTakeOver": 8,
|
||||
}
|
||||
|
||||
else:
|
||||
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz
|
||||
@@ -179,16 +214,21 @@ class WMI(StrEnum):
|
||||
|
||||
class VolkswagenSafetyFlags(IntFlag):
|
||||
LONG_CONTROL = 1
|
||||
MEB_ALT_CRC = 2
|
||||
|
||||
|
||||
class VolkswagenFlags(IntFlag):
|
||||
# Detected flags
|
||||
STOCK_HCA_PRESENT = 1
|
||||
KOMBI_PRESENT = 4
|
||||
ALT_GEAR = 32
|
||||
STOCK_KLR_PRESENT = 64
|
||||
|
||||
# Static flags
|
||||
PQ = 2
|
||||
MLB = 8
|
||||
MEB = 16
|
||||
MEB_GEN2 = 128
|
||||
|
||||
|
||||
@dataclass
|
||||
@@ -210,6 +250,19 @@ class VolkswagenMQBPlatformConfig(PlatformConfig):
|
||||
wmis: set[WMI] = field(default_factory=set)
|
||||
|
||||
|
||||
@dataclass
|
||||
class VolkswagenMEBPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_meb_generated', Bus.radar: 'vw_meb_generated'})
|
||||
chassis_codes: set[str] = field(default_factory=set)
|
||||
wmis: set[WMI] = field(default_factory=set)
|
||||
model_years: set[str] = field(default_factory=set)
|
||||
|
||||
def init(self):
|
||||
self.flags |= VolkswagenFlags.MEB
|
||||
if self.flags & VolkswagenFlags.MEB_GEN2:
|
||||
self.dbc_dict = {Bus.pt: 'vw_meb_2024_generated', Bus.radar: 'vw_meb_2024_generated'}
|
||||
|
||||
|
||||
@dataclass
|
||||
class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_pq'})
|
||||
@@ -265,7 +318,7 @@ class VWCarDocs(CarDocs):
|
||||
# FW_VERSIONS for that existing CAR.
|
||||
|
||||
class CAR(Platforms):
|
||||
config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig
|
||||
config: VolkswagenMLBPlatformConfig | VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig | VolkswagenMEBPlatformConfig
|
||||
|
||||
VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig(
|
||||
[
|
||||
@@ -327,6 +380,37 @@ class CAR(Platforms):
|
||||
chassis_codes={"5G", "AU", "BA", "BE"},
|
||||
wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
|
||||
)
|
||||
VOLKSWAGEN_ID3_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Volkswagen ID.3 2020-23")],
|
||||
VolkswagenCarSpecs(mass=1935, wheelbase=2.77),
|
||||
chassis_codes={"E1"},
|
||||
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
|
||||
model_years={"L", "M", "N", "P"},
|
||||
)
|
||||
VOLKSWAGEN_ID3_MK2 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Volkswagen ID.3 2024-25")],
|
||||
VolkswagenCarSpecs(mass=1935, wheelbase=2.77),
|
||||
chassis_codes={"E1"},
|
||||
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
|
||||
model_years={"R", "S"},
|
||||
flags=VolkswagenFlags.MEB_GEN2,
|
||||
)
|
||||
VOLKSWAGEN_ID4_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[
|
||||
VWCarDocs("Volkswagen ID.4 2021-23"),
|
||||
VWCarDocs("Volkswagen ID.5 2022-23"),
|
||||
],
|
||||
VolkswagenCarSpecs(mass=2224, wheelbase=2.77),
|
||||
chassis_codes={"E2"},
|
||||
wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_CAR, WMI.VOLKSWAGEN_EUROPE_SUV},
|
||||
)
|
||||
VOLKSWAGEN_ID4_MK2 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Volkswagen ID.4 2024-25")],
|
||||
VolkswagenCarSpecs(mass=2224, wheelbase=2.77),
|
||||
chassis_codes={"E8"},
|
||||
wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_CAR, WMI.VOLKSWAGEN_EUROPE_SUV},
|
||||
flags=VolkswagenFlags.MEB_GEN2,
|
||||
)
|
||||
VOLKSWAGEN_JETTA_MK6 = VolkswagenPQPlatformConfig(
|
||||
[VWCarDocs("Volkswagen Jetta 2015-18")],
|
||||
VolkswagenCarSpecs(mass=1518, wheelbase=2.65, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
|
||||
@@ -441,6 +525,21 @@ class CAR(Platforms):
|
||||
chassis_codes={"8U", "F3", "FS"},
|
||||
wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},
|
||||
)
|
||||
AUDI_Q4_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Audi Q4 e-tron 2021-23")],
|
||||
VolkswagenCarSpecs(mass=1965, wheelbase=2.764),
|
||||
chassis_codes={"FZ"},
|
||||
wmis={WMI.AUDI_EUROPE_MPV},
|
||||
model_years={"M", "N", "P"},
|
||||
)
|
||||
AUDI_Q4_MK2 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Audi Q4 e-tron 2024-25")],
|
||||
VolkswagenCarSpecs(mass=1965, wheelbase=2.764),
|
||||
chassis_codes={"FZ"},
|
||||
wmis={WMI.AUDI_EUROPE_MPV},
|
||||
model_years={"R", "S"},
|
||||
flags=VolkswagenFlags.MEB_GEN2,
|
||||
)
|
||||
PORSCHE_MACAN_MK1 = VolkswagenMLBPlatformConfig(
|
||||
[VWCarDocs("Porsche Macan 2017-24")],
|
||||
VolkswagenCarSpecs(mass=1895, wheelbase=2.81, steerRatio=16.2),
|
||||
@@ -457,6 +556,27 @@ class CAR(Platforms):
|
||||
chassis_codes={"5F"},
|
||||
wmis={WMI.SEAT},
|
||||
)
|
||||
CUPRA_BORN_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("CUPRA Born 2021-23")],
|
||||
VolkswagenCarSpecs(mass=1956, wheelbase=2.766, steerRatio=15.9),
|
||||
chassis_codes={"K1"},
|
||||
wmis={WMI.SEAT},
|
||||
)
|
||||
SKODA_ENYAQ_MK1 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Škoda Enyaq 2021-23")],
|
||||
VolkswagenCarSpecs(mass=1965, wheelbase=2.77),
|
||||
chassis_codes={"NY"},
|
||||
model_years={"M", "N", "P"},
|
||||
wmis={WMI.SKODA},
|
||||
)
|
||||
SKODA_ENYAQ_MK2 = VolkswagenMEBPlatformConfig(
|
||||
[VWCarDocs("Škoda Enyaq 2024-25")],
|
||||
VolkswagenCarSpecs(mass=1965, wheelbase=2.77),
|
||||
chassis_codes={"NY"},
|
||||
model_years={"R", "S"},
|
||||
wmis={WMI.SKODA},
|
||||
flags=VolkswagenFlags.MEB_GEN2,
|
||||
)
|
||||
SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
|
||||
[VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
|
||||
VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
|
||||
@@ -515,6 +635,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
|
||||
# https://www.clubvw.org.au/vwreference/vwvin
|
||||
vin_obj = Vin(vin)
|
||||
chassis_code = vin_obj.vds[3:5]
|
||||
model_year = vin_obj.vis[0] if vin_obj.vis else ""
|
||||
|
||||
for platform in CAR:
|
||||
valid_ecus = set()
|
||||
@@ -535,6 +656,8 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
|
||||
continue
|
||||
|
||||
if vin_obj.wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes:
|
||||
if platform.config.flags & VolkswagenFlags.MEB and platform.config.model_years and model_year not in platform.config.model_years:
|
||||
continue
|
||||
candidates.add(platform)
|
||||
|
||||
return {str(c) for c in candidates}
|
||||
@@ -582,6 +705,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
non_essential_ecus={Ecu.eps: list(CAR)},
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
|
||||
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
|
||||
fuzzy_only_platforms={car for car in CAR if car.config.flags & VolkswagenFlags.MEB},
|
||||
)
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,132 @@
|
||||
CM_ "IMPORT _vw_meb_common.dbc";
|
||||
|
||||
BO_ 190 MEB_HVEM_01: 48 XXX
|
||||
SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CNT : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Engine_RPM_Max : 12|14@1+ (2,-9658) [0|15] "RPM" XXX
|
||||
SG_ Engine_RPM_Min : 26|14@1+ (2,-10300) [0|63] "RPM" XXX
|
||||
SG_ In_Motion_04 : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ In_Motion_03 : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ In_Motion_02 : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Engine_Power : 56|12@1+ (0.5,-1023) [0|255] "kW" XXX
|
||||
SG_ In_Motion : 68|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Standstill : 71|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_04 : 72|10@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Battery_Voltage : 86|12@1+ (0.2,0) [0|3] "Volt" XXX
|
||||
SG_ Unknown_01 : 100|9@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Battery_Voltage_02 : 113|11@1+ (0.24,0) [0|127] "Volt" XXX
|
||||
SG_ Engine_Status : 296|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Inactive : 300|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Inactive_02 : 303|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 252 ESC_51: 48 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Accelerator_Higher_Speed : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pressure : 42|9@1+ (0.195,0) [0|100] "Unit_Percent" XXX
|
||||
SG_ HL_Radgeschw : 64|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ HR_Radgeschw : 80|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ VL_Radgeschw : 96|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ VR_Radgeschw : 112|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ HL_Brake_Pressure : 152|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ HR_Brake_Pressure : 160|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ VL_Brake_Pressure : 168|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ VR_Brake_Pressure : 176|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ Steering_Wheel_CW : 184|8@1+ (1.67,0) [0|255] "" XXX
|
||||
SG_ Steering_Wheel_CCW : 192|8@1+ (1.67,0) [0|255] "" XXX
|
||||
|
||||
BO_ 267 Motor_51: 32 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
|
||||
SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
|
||||
SG_ TSK_Status : 88|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ TSK_Limiter_ausgewaehlt : 95|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 496 EA_02: 8 Gateway
|
||||
SG_ EA_02_CRC : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
SG_ EA_02_BZ : 8|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ EA_Texte : 12|4@1+ (1,0) [0|15] "" ZR_High
|
||||
SG_ ACF_Lampe_Hands_Off : 16|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ EA_Infotainment_Anf : 22|2@1+ (1,0) [0|3] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3,ZR_Standard
|
||||
SG_ EA_Tueren_Anf : 24|1@1+ (1,0) [0|1] "" ZR_High
|
||||
SG_ EA_Innenraumlicht_Anf : 25|1@1+ (1,0) [0|1] "" ZR_High
|
||||
SG_ zFAS_Warnblinken : 26|2@1+ (1,0) [0|3] "" ZR_High
|
||||
SG_ STP_Primaeranz : 28|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ EA_Bremslichtblinken : 31|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ EA_Blinken : 32|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ EA_Unknown : 60|3@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 588 MEB_Side_Assist_01: 16 XXX
|
||||
SG_ Blind_Spot_Right : 12|7@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Blind_Spot_Left : 19|7@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Blind_Spot_Info_Right : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Warn_Right : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Info_Left : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Warn_Left : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lower_Speed_01 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Higher_Speed_01 : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Higher_Speed_02 : 83|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lower_Speed_02 : 84|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 86|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 619 TA_01: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Travel_Assist_Status : 13|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Travel_Assist_Request : 19|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Travel_Assist_Available : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 768 ACC_19: 48 XXX
|
||||
SG_ ACC_Tempolimit : 64|5@1+ (1,0) [0|31] "" OTA_FC
|
||||
SG_ ACC_Wunschgeschw_Farbe : 69|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Warnung_Verkehrszeichen_1 : 70|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACA_Querfuehrung : 71|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ Unknown_02 : 73|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Regelung_AIO : 75|1@1+ (1,0) [0|1] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
|
||||
SG_ ACC_Wunschgeschw_02 : 76|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Vector__XXX
|
||||
SG_ ACC_Abstandsindex_02 : 86|10@1+ (1,0) [1|1021] "" Vector__XXX
|
||||
SG_ ACC_Display_Prio : 96|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_rel_Objekt_Zusatzanz : 98|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_Gesetzte_Zeitluecke : 101|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ ACC_Optischer_Fahrerhinweis : 104|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Warnhinweis : 105|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_EGO_Fahrzeug : 106|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ ACC_Relevantes_Objekt_02 : 109|2@1+ (1,0) [0|3] "" OTA_FC,ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
|
||||
SG_ ACC_Wunschgeschw_erreicht : 112|1@1+ (1,0) [0|1] "" OTA_FC
|
||||
SG_ ACC_Anzeige_Zeitluecke : 113|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Texte_Primaeranz_02 : 114|6@1+ (1,0) [0|63] "" Vector__XXX
|
||||
SG_ ACC_Texte_Zusatzanz_02 : 120|6@1+ (1,0) [0|63] "" Vector__XXX
|
||||
SG_ STA_Primaeranz : 126|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ SET_ME_0X3FF : 140|10@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Heartbeat : 150|9@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_0XFFFF : 160|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ ACC_Enabled : 186|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Zeitluecke_Farbe : 189|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_0X1 : 199|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Status_ACC : 208|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ACC_Akustischer_Fahrerhinweis : 211|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_08 : 224|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_01 : 225|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_06 : 226|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_07 : 228|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_0X7FFF : 240|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Unknown_09 : 262|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ Lead_Type_Detected : 265|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Standby_Override : 266|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Street_Color : 267|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Limiter_Mode : 268|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lead_Brightness : 269|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ SET_ME_0X6A : 273|8@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Lead_Type : 287|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Lead_Distance : 290|10@1+ (0.2,0) [0|7] "Unit_Meter" XXX
|
||||
SG_ ACC_Events : 332|4@0+ (1,0) [0|3] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_1 : 334|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_2 : 344|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_3 : 354|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_4 : 364|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_5 : 374|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
|
||||
VAL_ 768 ACC_Events 3 "Starting_Available" 0 "None" 5 "Speed_Limit_Camera" 9 "Street_Type" 4 "Speed_Limit_in_Nav";
|
||||
@@ -0,0 +1,134 @@
|
||||
CM_ "IMPORT _vw_meb_common.dbc";
|
||||
|
||||
BO_ 190 MEB_HVEM_01: 48 XXX
|
||||
SG_ CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CNT : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Engine_RPM_Max : 12|14@1+ (2,-9658) [0|15] "RPM" XXX
|
||||
SG_ Engine_RPM_Min : 26|14@1+ (2,-10300) [0|63] "RPM" XXX
|
||||
SG_ In_Motion_04 : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ In_Motion_03 : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ In_Motion_02 : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Engine_Power : 56|12@1+ (0.5,-1023) [0|255] "kW" XXX
|
||||
SG_ In_Motion : 68|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Standstill : 71|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Voltage : 86|12@1+ (0.24,0) [0|3] "V" XXX
|
||||
SG_ Battery_Voltage : 113|13@1+ (0.065,0) [0|127] "V" XXX
|
||||
SG_ Engine_Status : 296|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Inactive : 300|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Inactive_02 : 303|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 496 EA_02: 8 Gateway
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ EA_Texte : 12|4@1+ (1,0) [0|15] "" ZR_High
|
||||
SG_ ACF_Lampe_Hands_Off : 16|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ EA_Infotainment_Anf : 22|2@1+ (1,0) [0|3] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3,ZR_Standard
|
||||
SG_ EA_Tueren_Anf : 24|1@1+ (1,0) [0|1] "" ZR_High
|
||||
SG_ EA_Innenraumlicht_Anf : 25|1@1+ (1,0) [0|1] "" ZR_High
|
||||
SG_ zFAS_Warnblinken : 26|2@1+ (1,0) [0|3] "" ZR_High
|
||||
SG_ STP_Primaeranz : 28|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ EA_Bremslichtblinken : 31|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ EA_Blinken : 32|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
|
||||
BO_ 588 MEB_Side_Assist_01: 16 XXX
|
||||
SG_ Blind_Spot_Passenger : 12|7@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Blind_Spot_Driver : 19|7@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Blind_Spot_Info_Passenger : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Warn_Passenger : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Info_Driver : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Blind_Spot_Warn_Driver : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lower_Speed_01 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Higher_Speed_01 : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Higher_Speed_02 : 83|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lower_Speed_02 : 84|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 86|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 768 ACC_19: 48 XXX
|
||||
SG_ ACC_Tempolimit : 64|5@1+ (1,0) [0|31] "" OTA_FC
|
||||
SG_ ACC_Wunschgeschw_Farbe : 69|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Warnung_Verkehrszeichen_1 : 70|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACA_Querfuehrung : 71|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_Regelung_AIO : 75|1@1+ (1,0) [0|1] "" ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
|
||||
SG_ ACC_Wunschgeschw_02 : 76|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Vector__XXX
|
||||
SG_ ACC_Abstandsindex_02 : 86|10@1+ (1,0) [1|1021] "" Vector__XXX
|
||||
SG_ ACC_Display_Prio : 96|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_rel_Objekt_Zusatzanz : 98|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_Gesetzte_Zeitluecke : 101|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ ACC_Optischer_Fahrerhinweis : 104|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Warnhinweis : 105|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_EGO_Fahrzeug : 106|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ ACC_Relevantes_Objekt_02 : 109|2@1+ (1,0) [0|3] "" OTA_FC,ZR_High,ZR_LIMU,ZR_MIB_TOP_ab_Gen3
|
||||
SG_ ACC_Wunschgeschw_erreicht : 112|1@1+ (1,0) [0|1] "" OTA_FC
|
||||
SG_ ACC_Anzeige_Zeitluecke : 113|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ACC_Texte_Primaeranz_02 : 114|6@1+ (1,0) [0|63] "" Vector__XXX
|
||||
SG_ ACC_Texte_Zusatzanz_02 : 120|6@1+ (1,0) [0|63] "" Vector__XXX
|
||||
SG_ STA_Primaeranz : 126|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ ACC_Event_Wunschgeschw : 140|10@1+ (0.32,0) [0|15] "" XXX
|
||||
SG_ Heartbeat : 150|9@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_0XFFFF : 160|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ ACC_Enabled : 186|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Zeitluecke_Farbe : 189|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_0X1 : 199|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Status_ACC : 208|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ACC_Akustischer_Fahrerhinweis : 211|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_0X7FFF : 240|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Lead_Type_Detected : 265|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Standby_Override : 266|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Street_Color : 267|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Limiter_Mode : 268|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lead_Brightness : 269|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ SET_ME_0X6A : 273|8@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Lead_Position : 281|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Lead_Type : 287|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Lead_Distance : 290|10@1+ (0.2,0) [0|7] "Unit_Meter" XXX
|
||||
SG_ Lead_Distance_Right : 300|10@1+ (0.2,0) [0|15] "Unit_Meter" XXX
|
||||
SG_ Lead_Distance_Left : 310|10@1+ (0.2,0) [0|3] "Unit_Meter" XXX
|
||||
SG_ ACC_Events : 332|4@0+ (1,0) [0|3] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_1 : 334|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_2 : 344|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_3 : 354|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_4 : 364|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
SG_ Zeitluecke_5 : 374|9@1+ (0.171,0) [0|100] "Unit_Meter" XXX
|
||||
|
||||
VAL_ 768 ACC_Event_Wunschgeschw 1023 "None";
|
||||
VAL_ 768 ACC_Events 3 "Starting_Available" 0 "None" 5 "Speed_Limit_Detected" 9 "Crossing" 4 "Speed_Limit_Ahead" 10 "Roundabout" 6 "Curve";
|
||||
|
||||
BO_ 252 ESC_51: 64 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AEB_Breaking_01 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ AEB_Breaking_02 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Accelerator_Higher_Speed : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pressure : 42|9@1+ (0.195,0) [0|100] "Unit_Percent" XXX
|
||||
SG_ HL_Radgeschw : 64|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ HR_Radgeschw : 80|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ VL_Radgeschw : 96|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ VR_Radgeschw : 112|16@1+ (0.0075,0) [0|491.5125] "Unit_KilometerPerHour" XXX
|
||||
SG_ HL_Brake_Pressure : 152|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ HR_Brake_Pressure : 160|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ VL_Brake_Pressure : 168|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ VR_Brake_Pressure : 176|8@1+ (1,0) [0|100] "" XXX
|
||||
SG_ Steering_Wheel_CW : 184|8@1+ (1.67,0) [0|255] "" XXX
|
||||
SG_ Steering_Wheel_CCW : 192|8@1+ (1.67,0) [0|255] "" XXX
|
||||
SG_ ESC_v_Signal : 328|13@1+ (0.052,-107.016) [0|63] "" XXX
|
||||
|
||||
BO_ 267 Motor_51: 48 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Accel_Pedal_Pressure : 12|9@1+ (0.4,0) [0|255] "" XXX
|
||||
SG_ Accel_Low_Pressed_Support : 21|1@1+ (1,0) [0|7] "" XXX
|
||||
SG_ TSK_Status : 88|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ TSK_Limiter_ausgewaehlt : 95|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 619 TA_01: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Travel_Assist_Status : 13|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Speed_Mode_01 : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Speed_Mode_02 : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Travel_Assist_Request : 19|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Init : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Travel_Assist_Available : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Speed_Mode_Status : 32|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Lane_Unsure : 37|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -56,6 +56,7 @@
|
||||
} while (0);
|
||||
|
||||
#define UPDATE_VEHICLE_SPEED(val_ms) (update_sample(&vehicle_speed, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))
|
||||
#define UPDATE_VEHICLE_SPEED_2(val_ms) (update_sample(&vehicle_speed_2, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))
|
||||
|
||||
uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len);
|
||||
|
||||
@@ -137,6 +138,15 @@ typedef struct {
|
||||
const bool inactive_angle_is_zero; // if false, enforces angle near meas when disabled (default)
|
||||
} AngleSteeringLimits;
|
||||
|
||||
typedef struct {
|
||||
const int max_curvature; // rad/m * curvature_to_can
|
||||
const float curvature_to_can; // CAN units per rad/m
|
||||
const uint32_t frequency; // Hz
|
||||
const int max_curvature_error; // max deviation from measured curvature (0 disables)
|
||||
const float curvature_error_min_speed; // minimum speed for curvature error checks [m/s]
|
||||
const int max_steer_power; // max steering authority value (0 disables)
|
||||
} CurvatureSteeringLimits;
|
||||
|
||||
// parameters for lateral accel/jerk angle limiting using a simple vehicle model
|
||||
typedef struct {
|
||||
const float slip_factor;
|
||||
@@ -237,6 +247,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
|
||||
bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const AngleSteeringLimits limits);
|
||||
bool steer_angle_cmd_checks_vm(int desired_angle, bool steer_control_enabled, const AngleSteeringLimits limits,
|
||||
const AngleSteeringParams params);
|
||||
bool steer_curvature_cmd_checks(int desired_curvature, int steer_power, bool steer_control_enabled, const CurvatureSteeringLimits limits);
|
||||
bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits);
|
||||
bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits);
|
||||
bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits);
|
||||
@@ -262,6 +273,7 @@ extern bool steering_disengage;
|
||||
extern bool steering_disengage_prev;
|
||||
extern bool cruise_engaged_prev;
|
||||
extern struct sample_t vehicle_speed;
|
||||
extern struct sample_t vehicle_speed_2;
|
||||
extern bool vehicle_moving;
|
||||
extern bool acc_main_on; // referred to as "ACC off" in ISO 15622:2018
|
||||
extern int cruise_button_prev;
|
||||
@@ -292,6 +304,16 @@ extern uint32_t ts_angle_check_last;
|
||||
extern int desired_angle_last;
|
||||
extern struct sample_t angle_meas; // last 6 steer angles/curvatures
|
||||
|
||||
typedef struct {
|
||||
int desired_last;
|
||||
uint32_t rt_msgs;
|
||||
uint32_t rt_msgs_prev;
|
||||
uint32_t ts_check_last;
|
||||
int steer_power_last;
|
||||
struct sample_t meas;
|
||||
} CurvatureSteeringState;
|
||||
extern CurvatureSteeringState curvature_state;
|
||||
|
||||
extern bool enable_gas_interceptor;
|
||||
extern int gas_interceptor_prev;
|
||||
extern bool gm_remote_start_boots_comma;
|
||||
@@ -353,6 +375,7 @@ extern const safety_hooks subaru_preglobal_hooks;
|
||||
extern const safety_hooks tesla_hooks;
|
||||
extern const safety_hooks toyota_hooks;
|
||||
extern const safety_hooks volkswagen_mlb_hooks;
|
||||
extern const safety_hooks volkswagen_meb_hooks;
|
||||
extern const safety_hooks volkswagen_mqb_hooks;
|
||||
extern const safety_hooks volkswagen_pq_hooks;
|
||||
extern const safety_hooks rivian_hooks;
|
||||
|
||||
@@ -172,6 +172,26 @@ static bool rt_angle_rate_limit_check(AngleSteeringLimits limits) {
|
||||
return violation;
|
||||
}
|
||||
|
||||
static bool rt_curvature_rate_limit_check(CurvatureSteeringLimits limits) {
|
||||
bool violation = false;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
|
||||
int max_rt_msgs = ((float)limits.frequency * MAX_RT_INTERVAL / 1e6 * 1.2) + 1;
|
||||
uint32_t rt_msgs = curvature_state.rt_msgs + curvature_state.rt_msgs_prev;
|
||||
if ((int)rt_msgs > max_rt_msgs) {
|
||||
violation = true;
|
||||
}
|
||||
curvature_state.rt_msgs += 1U;
|
||||
|
||||
if (safety_get_ts_elapsed(ts, curvature_state.ts_check_last) >= (MAX_RT_INTERVAL / 2U)) {
|
||||
curvature_state.rt_msgs_prev = curvature_state.rt_msgs;
|
||||
curvature_state.rt_msgs = 0U;
|
||||
curvature_state.ts_check_last = ts;
|
||||
}
|
||||
|
||||
return violation;
|
||||
}
|
||||
|
||||
// Safety checks for angle-based steering commands
|
||||
bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const AngleSteeringLimits limits) {
|
||||
bool violation = false;
|
||||
@@ -278,6 +298,65 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
|
||||
return violation;
|
||||
}
|
||||
|
||||
// Safety checks for curvature-based steering commands.
|
||||
bool steer_curvature_cmd_checks(int desired_curvature, int steer_power, bool steer_control_enabled, const CurvatureSteeringLimits limits) {
|
||||
static const float MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL + (EARTH_G * AVERAGE_ROAD_ROLL);
|
||||
static const float MAX_LATERAL_JERK = 3.0 + (EARTH_G * AVERAGE_ROAD_ROLL);
|
||||
|
||||
const float speed_1 = (float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR;
|
||||
const float speed_2 = (float)vehicle_speed_2.values[0] / VEHICLE_SPEED_FACTOR;
|
||||
const bool speed_sources_valid = SAFETY_ABS(speed_1 - speed_2) <= 2.0;
|
||||
speed_mismatch_check(speed_2);
|
||||
|
||||
const bool lateral_allowed = (aol_allowed || controls_allowed) && speed_sources_valid;
|
||||
const float fudged_speed = SAFETY_MAX((vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.0, 1.0);
|
||||
bool violation = false;
|
||||
|
||||
if (lateral_allowed && steer_control_enabled) {
|
||||
violation |= safety_max_limit_check(desired_curvature, limits.max_curvature, -limits.max_curvature);
|
||||
|
||||
const float max_curvature_rate_sec = MAX_LATERAL_JERK / (fudged_speed * fudged_speed);
|
||||
const float max_curvature_delta = max_curvature_rate_sec / (float)limits.frequency;
|
||||
const int max_curvature_delta_can = (max_curvature_delta * limits.curvature_to_can) + 1.;
|
||||
const int highest_desired_curvature = curvature_state.desired_last + max_curvature_delta_can;
|
||||
const int lowest_desired_curvature = curvature_state.desired_last - max_curvature_delta_can;
|
||||
violation |= safety_max_limit_check(desired_curvature, highest_desired_curvature, lowest_desired_curvature);
|
||||
|
||||
const float max_curvature = MAX_LATERAL_ACCEL / (fudged_speed * fudged_speed);
|
||||
const int max_curvature_can = (max_curvature * limits.curvature_to_can) + 1.;
|
||||
violation |= safety_max_limit_check(desired_curvature, max_curvature_can, -max_curvature_can);
|
||||
|
||||
if (limits.max_curvature_error && (speed_1 > limits.curvature_error_min_speed)) {
|
||||
const int lowest_error = curvature_state.meas.min - limits.max_curvature_error - 1;
|
||||
const int highest_error = curvature_state.meas.max + limits.max_curvature_error + 1;
|
||||
violation |= safety_max_limit_check(desired_curvature, highest_error, lowest_error);
|
||||
}
|
||||
|
||||
violation |= rt_curvature_rate_limit_check(limits);
|
||||
}
|
||||
curvature_state.desired_last = desired_curvature;
|
||||
|
||||
if (!steer_control_enabled) {
|
||||
violation |= desired_curvature != 0;
|
||||
}
|
||||
|
||||
if (limits.max_steer_power != 0) {
|
||||
violation |= safety_max_limit_check(steer_power, limits.max_steer_power, 0);
|
||||
violation |= (steer_power != 0) && !steer_control_enabled;
|
||||
// Permit only a strict power wind-down after lateral control becomes inactive.
|
||||
violation |= !lateral_allowed && (steer_power != 0) && (steer_power >= curvature_state.steer_power_last);
|
||||
curvature_state.steer_power_last = steer_power;
|
||||
} else {
|
||||
violation |= !lateral_allowed && steer_control_enabled;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
curvature_state.desired_last = 0;
|
||||
}
|
||||
|
||||
return violation;
|
||||
}
|
||||
|
||||
static float get_curvature_factor(const float speed, const AngleSteeringParams params) {
|
||||
// Matches VehicleModel.curvature_factor()
|
||||
return 1. / (1. - (params.slip_factor * (speed * speed))) / params.wheelbase;
|
||||
|
||||
@@ -437,6 +437,11 @@ static safety_config ford_init(uint16_t param) {
|
||||
{FORD_LateralMotionControl2, 0, 8, .check_relay = true},
|
||||
};
|
||||
|
||||
static const CanMsg FORD_STOCK_TX_MSGS[] = {
|
||||
FORD_COMMON_TX_MSGS
|
||||
{FORD_LateralMotionControl, 0, 8, .check_relay = true},
|
||||
};
|
||||
|
||||
static const CanMsg FORD_LONG_TX_MSGS[] = {
|
||||
FORD_COMMON_TX_MSGS
|
||||
{FORD_ACCDATA, 0, 8, .check_relay = true},
|
||||
@@ -459,15 +464,13 @@ static safety_config ford_init(uint16_t param) {
|
||||
ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
|
||||
#endif
|
||||
|
||||
// Longitudinal is the default for CAN, and optional for CAN FD w/ ALLOW_DEBUG
|
||||
ford_longitudinal = !ford_canfd || ford_longitudinal;
|
||||
|
||||
safety_config ret;
|
||||
if (ford_canfd) {
|
||||
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
|
||||
} else {
|
||||
ret = BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS);
|
||||
ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -92,13 +92,16 @@ static bool hyundai_legacy = false;
|
||||
static bool hyundai_can_canfd_blended_hda2 = false;
|
||||
static bool hyundai_acc_main_on_rx_prev = false;
|
||||
|
||||
#define HYUNDAI_CAN_CANFD_BLENDED_HDA2_RX_CHECKS() \
|
||||
#define HYUNDAI_CAN_CANFD_BLENDED_HDA2_COMMON_RX_CHECKS() \
|
||||
{.msg = {{0x260, 1, 8, 100U, .max_counter = 3U, .ignore_quality_flag = true}, \
|
||||
{0x371, 1, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, \
|
||||
{.msg = {{0x386, 1, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x394, 1, 8, 50U, .max_counter = 7U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x251, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x4F1, 1, 4, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x4F1, 1, 4, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
|
||||
#define HYUNDAI_CAN_CANFD_BLENDED_HDA2_RX_CHECKS() \
|
||||
HYUNDAI_CAN_CANFD_BLENDED_HDA2_COMMON_RX_CHECKS() \
|
||||
HYUNDAI_SCC11_ADDR_CHECK(1) \
|
||||
HYUNDAI_SCC12_ADDR_CHECK(1, true)
|
||||
|
||||
@@ -281,14 +284,21 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
|
||||
|
||||
bool tx = true;
|
||||
|
||||
// FCA11: Block any potential actuation
|
||||
// FCA11: Block any potential actuation. The blended HDA II layout uses
|
||||
// different static fields, but its explicit AEB/FCA request bits stay zero.
|
||||
if (msg->addr == 0x38DU) {
|
||||
int CR_VSM_DecCmd = msg->data[1];
|
||||
bool FCA_CmdAct = GET_BIT(msg, 20U);
|
||||
bool CF_VSM_DecCmdAct = GET_BIT(msg, 31U);
|
||||
if (hyundai_can_canfd_blended_hda2) {
|
||||
if (GET_BIT(msg, 16U) || GET_BIT(msg, 19U)) {
|
||||
tx = false;
|
||||
}
|
||||
} else {
|
||||
int CR_VSM_DecCmd = msg->data[1];
|
||||
bool FCA_CmdAct = GET_BIT(msg, 20U);
|
||||
bool CF_VSM_DecCmdAct = GET_BIT(msg, 31U);
|
||||
|
||||
if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
|
||||
tx = false;
|
||||
if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -348,7 +358,7 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
|
||||
}
|
||||
|
||||
// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (msg->addr == 0x7D0U) {
|
||||
if ((msg->addr == 0x7D0U) || (msg->addr == 0x730U)) {
|
||||
if ((GET_BYTES(msg, 0, 4) != 0x00803E02U) || (GET_BYTES(msg, 4, 4) != 0x0U)) {
|
||||
tx = false;
|
||||
}
|
||||
@@ -399,6 +409,27 @@ static safety_config hyundai_init(uint16_t param) {
|
||||
{0x2A4, 0, 24, .check_relay = true},
|
||||
};
|
||||
|
||||
static const CanMsg HYUNDAI_CAN_CANFD_BLENDED_HDA2_LONG_TX_MSGS[] = {
|
||||
{0x50, 0, 16, .check_relay = true},
|
||||
{0x4F1, 1, 4, .check_relay = false},
|
||||
{0x2A4, 0, 24, .check_relay = true},
|
||||
{0x51, 0, 32, .check_relay = false},
|
||||
{0x730, 1, 8, .check_relay = false},
|
||||
{0x340, 1, 8, .check_relay = true},
|
||||
{0x485, 1, 8, .check_relay = true},
|
||||
{0x420, 1, 8, .check_relay = true},
|
||||
{0x421, 1, 8, .check_relay = true},
|
||||
{0x389, 1, 8, .check_relay = true},
|
||||
{0x38D, 1, 8, .check_relay = false},
|
||||
{0x363, 1, 8, .check_relay = false},
|
||||
{0x398, 1, 8, .check_relay = false},
|
||||
{0x399, 1, 8, .check_relay = false},
|
||||
{0x39A, 1, 8, .check_relay = false},
|
||||
{0x39B, 1, 8, .check_relay = false},
|
||||
{0x39C, 1, 8, .check_relay = false},
|
||||
{0x43A, 1, 8, .check_relay = false},
|
||||
};
|
||||
|
||||
static const CanMsg HYUNDAI_CAN_CANFD_BLENDED_LONG_TX_MSGS[] = {
|
||||
{0x340, 0, 8, .check_relay = true},
|
||||
{0x4F1, 0, 4, .check_relay = false},
|
||||
@@ -462,10 +493,10 @@ static safety_config hyundai_init(uint16_t param) {
|
||||
}
|
||||
if (hyundai_can_canfd_blended_hda2) {
|
||||
static RxCheck hyundai_can_canfd_blended_hda2_long_rx_checks[] = {
|
||||
HYUNDAI_CAN_CANFD_BLENDED_HDA2_RX_CHECKS()
|
||||
HYUNDAI_CAN_CANFD_BLENDED_HDA2_COMMON_RX_CHECKS()
|
||||
};
|
||||
SET_RX_CHECKS(hyundai_can_canfd_blended_hda2_long_rx_checks, ret);
|
||||
SET_TX_MSGS(HYUNDAI_CAN_CANFD_BLENDED_HDA2_TX_MSGS, ret);
|
||||
SET_TX_MSGS(HYUNDAI_CAN_CANFD_BLENDED_HDA2_LONG_TX_MSGS, ret);
|
||||
} else if (hyundai_camera_scc) {
|
||||
if (hyundai_can_refresh_msgs) {
|
||||
SET_TX_MSGS(HYUNDAI_CAMERA_SCC_LONG_REFRESH_TX_MSGS, ret);
|
||||
|
||||
@@ -174,7 +174,8 @@ static bool nissan_tx_hook(const CANPacket_t *msg) {
|
||||
}
|
||||
|
||||
if (nissan_longitudinal && (msg->addr == 0x707U) && (msg->bus == 0U)) {
|
||||
violation |= (msg->data[0] != 0x02U) || (msg->data[1] != 0x3EU) || (msg->data[2] != 0x80U);
|
||||
// KWP2000 TesterPresent, response required. The Leaf camera rejects UDS 0x3E80.
|
||||
violation |= (msg->data[0] != 0x02U) || (msg->data[1] != 0x3EU) || (msg->data[2] != 0x01U);
|
||||
for (int i = 3; i < 8; i++) {
|
||||
violation |= msg->data[i] != 0U;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,287 @@
|
||||
#pragma once
|
||||
|
||||
#include "opendbc/safety/declarations.h"
|
||||
#include "opendbc/safety/modes/volkswagen_common.h"
|
||||
|
||||
#define MSG_ESC_51 0xFCU // RX, for wheel speeds
|
||||
#define MSG_ACC_18 0x14DU // TX by OP, ACC control instructions to the drivetrain coordinator
|
||||
#define MSG_ESP_21 0xFDU // RX, redundant vehicle speed source
|
||||
#define MSG_HCA_03 0x303U
|
||||
#define MSG_ACC_19 0x300U // TX by OP, ACC HUD data to the instrument cluster
|
||||
#define MSG_QFK_01 0x13DU
|
||||
#define MSG_Motor_51 0x10BU // RX for TSK state and accel pedal
|
||||
#define MSG_KLR_01 0x25DU // TX, for capacitive steering wheel
|
||||
#define MSG_TA_01 0x26BU // TX by OP, Travel Assist status
|
||||
|
||||
static bool volkswagen_meb_alt_crc = false;
|
||||
|
||||
#define VOLKSWAGEN_MEB_COMMON_RX_CHECKS \
|
||||
{.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_MOTOR_14, 0, 8, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_GRA_ACC_01, 0, 8, 33U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_QFK_01, 0, 32, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_ESP_21, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
|
||||
static uint32_t volkswagen_meb_compute_crc(const CANPacket_t *msg) {
|
||||
int len = GET_LEN(msg);
|
||||
|
||||
uint8_t crc = 0xFFU;
|
||||
for (int i = 1; i < len; i++) {
|
||||
crc ^= (uint8_t)msg->data[i];
|
||||
crc = volkswagen_crc8_lut_8h2f[crc];
|
||||
}
|
||||
|
||||
uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
|
||||
if (msg->addr == MSG_LH_EPS_03) {
|
||||
crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
|
||||
} else if (msg->addr == MSG_MOTOR_14) {
|
||||
crc ^= (uint8_t[]){0x1F, 0x28, 0xC6, 0x85, 0xE6, 0xF8, 0xB0, 0x19, 0x5B, 0x64, 0x35, 0x21, 0xE4, 0xF7, 0x9C, 0x24}[counter];
|
||||
} else if (msg->addr == MSG_GRA_ACC_01) {
|
||||
crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
|
||||
} else if (msg->addr == MSG_QFK_01) {
|
||||
crc ^= (uint8_t[]){0x20, 0xCA, 0x68, 0xD5, 0x1B, 0x31, 0xE2, 0xDA, 0x08, 0x0A, 0xD4, 0xDE, 0x9C, 0xE4, 0x35, 0x5B}[counter];
|
||||
} else if (msg->addr == MSG_ESC_51) {
|
||||
crc ^= (uint8_t[]){0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD}[counter];
|
||||
} else if (msg->addr == MSG_ESP_21) {
|
||||
crc ^= (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter];
|
||||
} else if (msg->addr == MSG_Motor_51) {
|
||||
crc ^= (uint8_t[]){0x77, 0x5C, 0xA0, 0x89, 0x4B, 0x7C, 0xBB, 0xD6, 0x1F, 0x6C, 0x4F, 0xF6, 0x20, 0x2B, 0x43, 0xDD}[counter];
|
||||
} else {
|
||||
// Undefined CAN message, CRC check expected to fail
|
||||
}
|
||||
crc = volkswagen_crc8_lut_8h2f[crc];
|
||||
|
||||
return (uint8_t)(crc ^ 0xFFU);
|
||||
}
|
||||
|
||||
static uint32_t volkswagen_meb_alt_crc_compute(const CANPacket_t *msg) {
|
||||
uint32_t ret = volkswagen_meb_compute_crc(msg);
|
||||
int len = 0;
|
||||
if (volkswagen_meb_alt_crc) {
|
||||
if (msg->addr == MSG_QFK_01) {
|
||||
len = 28;
|
||||
} else if (msg->addr == MSG_ESC_51) {
|
||||
len = 60;
|
||||
} else if (msg->addr == MSG_Motor_51) {
|
||||
len = 44;
|
||||
} else {
|
||||
len = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (len > 0) {
|
||||
uint8_t crc = 0xFFU;
|
||||
for (int i = 1; i < len; i++) {
|
||||
crc ^= (uint8_t)msg->data[i];
|
||||
crc = volkswagen_crc8_lut_8h2f[crc];
|
||||
}
|
||||
|
||||
uint8_t counter = volkswagen_mqb_meb_get_counter(msg);
|
||||
if (msg->addr == MSG_QFK_01) {
|
||||
crc ^= (uint8_t[]){0x18, 0x71, 0x10, 0x8D, 0xD7, 0xAA, 0xB0, 0x78, 0xAC, 0x12, 0xAE, 0x0C, 0xDD, 0xF1, 0x85, 0x68}[counter];
|
||||
} else if (msg->addr == MSG_ESC_51) {
|
||||
crc ^= (uint8_t[]){0x69, 0xDC, 0xF9, 0x64, 0x6A, 0xCE, 0x55, 0x2C, 0xC4, 0x38, 0x8F, 0xD1, 0xC6, 0x43, 0xB4, 0xB1}[counter];
|
||||
} else if (msg->addr == MSG_Motor_51) {
|
||||
crc ^= (uint8_t[]){0x2C, 0xB1, 0x1A, 0x75, 0xBB, 0x65, 0x79, 0x47, 0x81, 0x2B, 0xCC, 0x96, 0x17, 0xDB, 0xC0, 0x94}[counter];
|
||||
} else {
|
||||
// Undefined CAN message, CRC check expected to fail
|
||||
}
|
||||
|
||||
crc = (uint8_t)(volkswagen_crc8_lut_8h2f[crc] ^ 0xFFU);
|
||||
if (crc == msg->data[0]) {
|
||||
ret = crc;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static safety_config volkswagen_meb_init(uint16_t param) {
|
||||
// Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
|
||||
static const CanMsg VOLKSWAGEN_MEB_STOCK_TX_MSGS[] = {
|
||||
{MSG_HCA_03, 0, 24, .check_relay = true},
|
||||
{MSG_GRA_ACC_01, 0, 8, .check_relay = false},
|
||||
{MSG_GRA_ACC_01, 2, 8, .check_relay = false},
|
||||
{MSG_LDW_02, 0, 8, .check_relay = true},
|
||||
{MSG_KLR_01, 0, 8, .check_relay = false},
|
||||
{MSG_KLR_01, 2, 8, .check_relay = true},
|
||||
};
|
||||
|
||||
static const CanMsg VOLKSWAGEN_MEB_LONG_TX_MSGS[] = {
|
||||
{MSG_HCA_03, 0, 24, .check_relay = true},
|
||||
{MSG_LDW_02, 0, 8, .check_relay = true},
|
||||
{MSG_KLR_01, 0, 8, .check_relay = false},
|
||||
{MSG_KLR_01, 2, 8, .check_relay = true},
|
||||
{MSG_ACC_19, 0, 48, .check_relay = true},
|
||||
{MSG_ACC_18, 0, 32, .check_relay = true},
|
||||
{MSG_TA_01, 0, 8, .check_relay = true},
|
||||
};
|
||||
|
||||
static RxCheck volkswagen_meb_rx_checks[] = {
|
||||
VOLKSWAGEN_MEB_COMMON_RX_CHECKS
|
||||
{.msg = {{MSG_Motor_51, 0, 32, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_ESC_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
static RxCheck volkswagen_meb_gen2_rx_checks[] = {
|
||||
VOLKSWAGEN_MEB_COMMON_RX_CHECKS
|
||||
{.msg = {{MSG_Motor_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_ESC_51, 0, 64, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
volkswagen_common_init();
|
||||
const uint16_t FLAG_VOLKSWAGEN_MEB_ALT_CRC = 2;
|
||||
volkswagen_meb_alt_crc = GET_FLAG(param, FLAG_VOLKSWAGEN_MEB_ALT_CRC);
|
||||
|
||||
#ifdef ALLOW_DEBUG
|
||||
volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
|
||||
#endif
|
||||
|
||||
safety_config ret;
|
||||
if (volkswagen_longitudinal && volkswagen_meb_alt_crc) {
|
||||
ret = BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_LONG_TX_MSGS);
|
||||
} else if (volkswagen_longitudinal) {
|
||||
ret = BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_LONG_TX_MSGS);
|
||||
} else if (volkswagen_meb_alt_crc) {
|
||||
ret = BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_STOCK_TX_MSGS);
|
||||
} else {
|
||||
ret = BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_STOCK_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static void volkswagen_meb_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg->bus == 0U) {
|
||||
// Update in-motion state by sampling wheel speeds
|
||||
if (msg->addr == MSG_ESC_51) {
|
||||
uint32_t fl = msg->data[8] | (msg->data[9] << 8);
|
||||
uint32_t fr = msg->data[10] | (msg->data[11] << 8);
|
||||
uint32_t rl = msg->data[12] | (msg->data[13] << 8);
|
||||
uint32_t rr = msg->data[14] | (msg->data[15] << 8);
|
||||
vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U);
|
||||
UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4.0 * 0.0075 * KPH_TO_MS);
|
||||
}
|
||||
|
||||
// Check vehicle speed with redundant source
|
||||
if (msg->addr == MSG_ESP_21) {
|
||||
// Signal: ESP_v_Signal
|
||||
float esp_speed = ((msg->data[5] << 8) | msg->data[4]) * 0.01 * KPH_TO_MS;
|
||||
UPDATE_VEHICLE_SPEED_2(esp_speed);
|
||||
}
|
||||
|
||||
if (msg->addr == MSG_QFK_01) {
|
||||
int current_curvature = ((msg->data[6] & 0x7FU) << 8) | msg->data[5];
|
||||
current_curvature *= GET_BIT(msg, 55U) ? 1 : -1;
|
||||
update_sample(&curvature_state.meas, current_curvature);
|
||||
}
|
||||
|
||||
if (msg->addr == MSG_LH_EPS_03) {
|
||||
update_sample(&torque_driver, volkswagen_mlb_mqb_driver_input_torque(msg));
|
||||
}
|
||||
|
||||
if (msg->addr == MSG_Motor_51) {
|
||||
int acc_status = (msg->data[11] & 0x07U);
|
||||
bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
|
||||
acc_main_on = cruise_engaged || (acc_status == 2);
|
||||
|
||||
if (!volkswagen_longitudinal) {
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
if (!acc_main_on) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
|
||||
int accel_pedal_value = ((msg->data[1] >> 4) & 0x0FU) | ((msg->data[2] & 0x1FU) << 4);
|
||||
gas_pressed = accel_pedal_value > 0;
|
||||
}
|
||||
|
||||
if (msg->addr == MSG_GRA_ACC_01) {
|
||||
// If using openpilot longitudinal, enter controls on falling edge of Set or Resume with main switch on
|
||||
// Signal: GRA_ACC_01.GRA_Tip_Setzen
|
||||
// Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
|
||||
if (volkswagen_longitudinal) {
|
||||
bool set_button = GET_BIT(msg, 16U);
|
||||
bool resume_button = GET_BIT(msg, 19U);
|
||||
if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
|
||||
controls_allowed = acc_main_on;
|
||||
}
|
||||
volkswagen_set_button_prev = set_button;
|
||||
volkswagen_resume_button_prev = resume_button;
|
||||
}
|
||||
|
||||
// Always exit controls on rising edge of Cancel
|
||||
if (GET_BIT(msg, 13U)) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
}
|
||||
|
||||
if (msg->addr == MSG_MOTOR_14) {
|
||||
brake_pressed = GET_BIT(msg, 28U);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
|
||||
// acceleration in m/s2 * 1000 to avoid floating point math
|
||||
const LongitudinalLimits VOLKSWAGEN_MEB_LONG_LIMITS = {
|
||||
.max_accel = 2000,
|
||||
.min_accel = -3500,
|
||||
.inactive_accel = 3010, // VW sends one increment above the max range when inactive
|
||||
};
|
||||
|
||||
bool tx = true;
|
||||
|
||||
// Safety check for MSG_ACC_18 acceleration requests
|
||||
if (msg->addr == MSG_ACC_18) {
|
||||
// Signal: ACC_18.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22)
|
||||
int desired_accel = ((((msg->data[4] & 0x7U) << 8) | msg->data[3]) * 5U) - 7220U;
|
||||
// MEB inactive accel is 3.01, but we also need to send 0.0 for gas override
|
||||
bool accel_override = controls_allowed && (desired_accel == 0);
|
||||
if (!accel_override && longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MEB_LONG_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
if (msg->addr == MSG_HCA_03) {
|
||||
const CurvatureSteeringLimits VOLKSWAGEN_MEB_STEERING_LIMITS = {
|
||||
.max_curvature = 29105,
|
||||
.curvature_to_can = 149253.7313f,
|
||||
.frequency = 50, // Hz
|
||||
.max_curvature_error = 0, // disabled, MEB doesn't track rack
|
||||
.curvature_error_min_speed = 0.0, // disabled
|
||||
.max_steer_power = 125,
|
||||
};
|
||||
|
||||
int desired_curvature_raw = GET_BYTES(msg, 3, 2) & 0x7FFFU;
|
||||
|
||||
bool desired_curvature_sign = GET_BIT(msg, 39U);
|
||||
if (!desired_curvature_sign) {
|
||||
desired_curvature_raw *= -1;
|
||||
}
|
||||
|
||||
bool steer_req = (((msg->data[1] >> 4) & 0x0FU) == 4U);
|
||||
int steer_power = msg->data[2];
|
||||
|
||||
if (steer_curvature_cmd_checks(desired_curvature_raw, steer_power, steer_req, VOLKSWAGEN_MEB_STEERING_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
if ((msg->addr == MSG_GRA_ACC_01) && !controls_allowed) {
|
||||
// only allow cancel button: bit 13
|
||||
if (!GET_BIT(msg, 13U)) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
const safety_hooks volkswagen_meb_hooks = {
|
||||
.init = volkswagen_meb_init,
|
||||
.rx = volkswagen_meb_rx_hook,
|
||||
.tx = volkswagen_meb_tx_hook,
|
||||
.get_counter = volkswagen_mqb_meb_get_counter,
|
||||
.get_checksum = volkswagen_mqb_meb_get_checksum,
|
||||
.compute_checksum = volkswagen_meb_alt_crc_compute,
|
||||
};
|
||||
@@ -30,6 +30,7 @@
|
||||
|
||||
#ifdef CANFD
|
||||
#include "opendbc/safety/modes/hyundai_canfd.h"
|
||||
#include "opendbc/safety/modes/volkswagen_meb.h"
|
||||
#endif
|
||||
|
||||
uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
|
||||
@@ -56,6 +57,7 @@ bool steering_disengage;
|
||||
bool steering_disengage_prev;
|
||||
bool cruise_engaged_prev = false;
|
||||
struct sample_t vehicle_speed;
|
||||
struct sample_t vehicle_speed_2;
|
||||
bool vehicle_moving = false;
|
||||
bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018
|
||||
int cruise_button_prev = 0;
|
||||
@@ -86,6 +88,8 @@ uint32_t ts_angle_check_last = 0;
|
||||
int desired_angle_last = 0;
|
||||
struct sample_t angle_meas; // last 6 steer angles/curvatures
|
||||
|
||||
CurvatureSteeringState curvature_state;
|
||||
|
||||
|
||||
int alternative_experience = 0;
|
||||
|
||||
@@ -425,6 +429,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
|
||||
{SAFETY_TESLA_PREAP, &tesla_preap_hooks},
|
||||
#ifdef CANFD
|
||||
{SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks},
|
||||
{SAFETY_VOLKSWAGEN_MEB, &volkswagen_meb_hooks},
|
||||
#endif
|
||||
#ifdef ALLOW_DEBUG
|
||||
{SAFETY_PSA, &psa_hooks},
|
||||
@@ -455,6 +460,11 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
|
||||
rt_angle_msgs = 0;
|
||||
ts_angle_check_last = 0;
|
||||
desired_angle_last = 0;
|
||||
curvature_state.desired_last = 0;
|
||||
curvature_state.rt_msgs = 0;
|
||||
curvature_state.rt_msgs_prev = 0;
|
||||
curvature_state.ts_check_last = 0;
|
||||
curvature_state.steer_power_last = 0;
|
||||
ts_torque_check_last = 0;
|
||||
ts_steer_req_mismatch_last = 0;
|
||||
valid_steer_req_count = 0;
|
||||
@@ -462,9 +472,11 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
|
||||
|
||||
// reset samples
|
||||
reset_sample(&vehicle_speed);
|
||||
reset_sample(&vehicle_speed_2);
|
||||
reset_sample(&torque_meas);
|
||||
reset_sample(&torque_driver);
|
||||
reset_sample(&angle_meas);
|
||||
reset_sample(&curvature_state.meas);
|
||||
|
||||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
|
||||
@@ -9,6 +9,7 @@ from collections.abc import Callable
|
||||
from opendbc.can import CANPacker
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
from opendbc.safety.tests.libsafety import libsafety_py
|
||||
from opendbc.car.lateral import MAX_LATERAL_ACCEL, MAX_LATERAL_JERK
|
||||
|
||||
MAX_WRONG_COUNTERS = 5
|
||||
MAX_SAMPLE_VALS = 6
|
||||
@@ -888,6 +889,113 @@ class AngleSteeringSafetyTest(VehicleSpeedSafetyTest):
|
||||
self.assertFalse(self._tx(self._angle_cmd_msg(angle=angle_cmd, enabled=True)))
|
||||
|
||||
|
||||
class CurvatureSteeringSafetyTest(VehicleSpeedSafetyTest):
|
||||
MAX_CURVATURE: float
|
||||
MAX_CURVATURE_TEST: float
|
||||
CURVATURE_TO_CAN: float
|
||||
SEND_RATE: float
|
||||
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
if cls.__name__ == "CurvatureSteeringSafetyTest":
|
||||
cls.safety = None
|
||||
raise unittest.SkipTest
|
||||
|
||||
@abc.abstractmethod
|
||||
def _curvature_cmd_msg(self, curvature: float, steer_req: bool):
|
||||
pass
|
||||
|
||||
@abc.abstractmethod
|
||||
def _curvature_meas_msg(self, curvature: float):
|
||||
pass
|
||||
|
||||
def _set_prev_desired_curvature(self, curvature: float):
|
||||
curvature_can = int(round(curvature * self.CURVATURE_TO_CAN))
|
||||
self.safety.set_desired_curvature_last(curvature_can)
|
||||
|
||||
def _reset_curvature_measurement(self, curvature: float):
|
||||
for _ in range(MAX_SAMPLE_VALS):
|
||||
self._rx(self._curvature_meas_msg(curvature))
|
||||
|
||||
def _reset_speed_measurement(self, speed: float):
|
||||
for _ in range(MAX_SAMPLE_VALS):
|
||||
self._rx(self._speed_msg(speed))
|
||||
self._rx(self._speed_msg_2(speed))
|
||||
|
||||
def test_curvature_measurements(self):
|
||||
self._common_measurement_test(self._curvature_meas_msg, -self.MAX_CURVATURE, self.MAX_CURVATURE, self.CURVATURE_TO_CAN,
|
||||
self.safety.get_curvature_meas_min, self.safety.get_curvature_meas_max)
|
||||
|
||||
def test_curvature_limit(self):
|
||||
v = 1
|
||||
for sign in (1, -1):
|
||||
max_curvature = self.MAX_CURVATURE_TEST * sign
|
||||
max_curvature_rate = MAX_LATERAL_JERK / v**2
|
||||
max_curvature_delta = max_curvature_rate * self.SEND_RATE * sign
|
||||
|
||||
self._reset_speed_measurement(v)
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._set_prev_desired_curvature(max_curvature)
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature, True)), f"{v} {max_curvature} {max_curvature_delta}")
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature - max_curvature_delta, True)), f"{v} {max_curvature} {max_curvature_delta}")
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature, True)), f"{v} {max_curvature} {max_curvature_delta}")
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(max_curvature + max_curvature_delta, True)), f"{v} {max_curvature} {max_curvature_delta}")
|
||||
|
||||
def test_iso_accel_limit(self):
|
||||
speeds = [2., 5., 10., 15., 50.]
|
||||
for v in speeds:
|
||||
for sign in (1, -1):
|
||||
max_curvature = np.clip(((MAX_LATERAL_ACCEL / (v - 1)**2) * sign), -self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST)
|
||||
max_curvature_rate = MAX_LATERAL_JERK / (v - 1)**2
|
||||
max_curvature_delta = max_curvature_rate * self.SEND_RATE * sign
|
||||
|
||||
self._reset_speed_measurement(v)
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._set_prev_desired_curvature(max_curvature)
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature, True)), f"{v} {max_curvature} {max_curvature_delta}")
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature - max_curvature_delta, True)), f"{v} {max_curvature} {max_curvature_delta}")
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature, True)), f"{v} {max_curvature} {max_curvature_delta}")
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(max_curvature + max_curvature_delta, True)), f"{v} {max_curvature} {max_curvature_delta}")
|
||||
|
||||
def test_iso_jerk_limit(self):
|
||||
speeds = [2., 5., 10., 15., 50.]
|
||||
for v in speeds:
|
||||
max_curvature_rate = MAX_LATERAL_JERK / (v - 1)**2
|
||||
max_curvature_delta = max_curvature_rate * self.SEND_RATE
|
||||
|
||||
self._reset_speed_measurement(v)
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._set_prev_desired_curvature(max_curvature_delta)
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(max_curvature_delta, True)))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(0, True)))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(-max_curvature_delta, True)))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(max_curvature_delta, True)))
|
||||
|
||||
# after violation, prev is reset to 0, going past the jerk limit must fail
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(2 * max_curvature_delta, True)))
|
||||
|
||||
class SafetyTest(SafetyTestBase):
|
||||
TX_MSGS: list[list[int]] | None = None
|
||||
SCANNED_ADDRS = [*range(0x800), # Entire 11-bit CAN address space
|
||||
@@ -997,7 +1105,7 @@ class SafetyTest(SafetyTestBase):
|
||||
'TestHyundaiCanCanfdBlendedLongitudinalSafety',
|
||||
'TestHyundaiLegacyLongitudinalSafetyHEV'}):
|
||||
continue
|
||||
volkswagen_shared = ('TestVolkswagenMqb', 'TestVolkswagenMlb')
|
||||
volkswagen_shared = ('TestVolkswagenMqb', 'TestVolkswagenMlb', 'TestVolkswagenMeb')
|
||||
if attr.startswith(volkswagen_shared) and current_test.startswith(volkswagen_shared):
|
||||
continue
|
||||
|
||||
|
||||
@@ -64,6 +64,11 @@ int get_desired_angle_last();
|
||||
void set_angle_meas(int min, int max);
|
||||
int get_angle_meas_min(void);
|
||||
int get_angle_meas_max(void);
|
||||
void set_desired_curvature_last(int t);
|
||||
int get_desired_curvature_last(void);
|
||||
void set_curvature_meas(int min, int max);
|
||||
int get_curvature_meas_min(void);
|
||||
int get_curvature_meas_max(void);
|
||||
|
||||
bool get_cruise_engaged_prev(void);
|
||||
void set_cruise_engaged_prev(bool engaged);
|
||||
|
||||
@@ -186,6 +186,27 @@ int get_angle_meas_max(void){
|
||||
return angle_meas.max;
|
||||
}
|
||||
|
||||
void set_desired_curvature_last(int t){
|
||||
curvature_state.desired_last = t;
|
||||
}
|
||||
|
||||
int get_desired_curvature_last(void){
|
||||
return curvature_state.desired_last;
|
||||
}
|
||||
|
||||
void set_curvature_meas(int min, int max){
|
||||
curvature_state.meas.min = min;
|
||||
curvature_state.meas.max = max;
|
||||
}
|
||||
|
||||
int get_curvature_meas_min(void){
|
||||
return curvature_state.meas.min;
|
||||
}
|
||||
|
||||
int get_curvature_meas_max(void){
|
||||
return curvature_state.meas.max;
|
||||
}
|
||||
|
||||
|
||||
// ***** car specific helpers *****
|
||||
|
||||
|
||||
@@ -61,6 +61,7 @@ class Buttons:
|
||||
|
||||
|
||||
# Ford safety has four different configurations tested here:
|
||||
# * CAN with stock longitudinal
|
||||
# * CAN with openpilot longitudinal
|
||||
# * CAN FD with stock longitudinal
|
||||
# * CAN FD with openpilot longitudinal
|
||||
@@ -443,6 +444,30 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
|
||||
self.assertFalse(self._tx(self._lat_ctl_msg(True, 0.0, 0.01, 0.0, 0.0)))
|
||||
|
||||
|
||||
class TestFordStockSafety(TestFordSafetyBase):
|
||||
STEER_MESSAGE = MSG_LateralMotionControl
|
||||
|
||||
TX_MSGS = [
|
||||
[MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
|
||||
[MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0],
|
||||
]
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
|
||||
MSG_IPMA_Data)}
|
||||
|
||||
FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
|
||||
MSG_IPMA_Data]}
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("ford_lincoln_base_pt")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.ford, 0)
|
||||
self.safety.init_tests()
|
||||
|
||||
def test_max_lateral_acceleration(self):
|
||||
# CAN does not limit curvature from lateral acceleration
|
||||
pass
|
||||
|
||||
|
||||
class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
|
||||
MAX_ACCEL = 2.0 # accel is used for brakes, but openpilot can set positive values
|
||||
MIN_ACCEL = -3.5
|
||||
@@ -509,8 +534,7 @@ class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("ford_lincoln_base_pt")
|
||||
self.safety = libsafety_py.libsafety
|
||||
# Make sure we enforce long safety even without long flag for CAN
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.ford, 0)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.LONG_CONTROL)
|
||||
self.safety.init_tests()
|
||||
|
||||
def test_max_lateral_acceleration(self):
|
||||
@@ -524,7 +548,7 @@ class TestFordLKASteeringSafety(TestFordLongitudinalSafety):
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("ford_lincoln_base_pt")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.LKA_STEERING)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.LONG_CONTROL | FordSafetyFlags.LKA_STEERING)
|
||||
self.safety.init_tests()
|
||||
|
||||
|
||||
|
||||
@@ -254,6 +254,10 @@ class TestHyundaiCanCanfdBlendedSafety(TestHyundaiSafety):
|
||||
|
||||
class TestHyundaiCanCanfdBlendedHda2Safety(unittest.TestCase):
|
||||
TX_MSGS = [[0x50, 0], [0x4F1, 1], [0x2A4, 0]]
|
||||
LONG_TX_MSGS = TX_MSGS + [
|
||||
[0x51, 0], [0x730, 1], [0x340, 1], [0x485, 1], [0x420, 1], [0x421, 1], [0x389, 1], [0x38D, 1],
|
||||
[0x363, 1], [0x398, 1], [0x399, 1], [0x39A, 1], [0x39B, 1], [0x39C, 1], [0x43A, 1],
|
||||
]
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("hyundai_palisade_2023_generated")
|
||||
@@ -291,6 +295,52 @@ class TestHyundaiCanCanfdBlendedHda2Safety(unittest.TestCase):
|
||||
self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x50))
|
||||
self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x2A4))
|
||||
|
||||
def test_hda2_longitudinal_support_messages_require_long_flag(self):
|
||||
flags = HyundaiSafetyFlags.CAN_CANFD_BLENDED | HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, flags)
|
||||
self.safety.init_tests()
|
||||
|
||||
for addr, bus in self.LONG_TX_MSGS:
|
||||
if addr == 0x50:
|
||||
msg = self._lkas_msg()
|
||||
elif addr == 0x420:
|
||||
msg = self.packer.make_can_msg_panda("SCC11", bus, {"aReqRaw": 0.0, "aReqValue": 0.0})
|
||||
elif addr == 0x730:
|
||||
msg = libsafety_py.make_CANPacket(addr, bus, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
|
||||
else:
|
||||
length = 32 if addr == 0x51 else 24 if addr == 0x2A4 else 4 if addr == 0x4F1 else 8
|
||||
msg = common.make_msg(bus, addr, length)
|
||||
self.assertTrue(self.safety.safety_tx_hook(msg), hex(addr))
|
||||
|
||||
self.safety.set_safety_hooks(
|
||||
CarParams.SafetyModel.hyundai,
|
||||
HyundaiSafetyFlags.CAN_CANFD_BLENDED | HyundaiSafetyFlags.CANFD_LKA_STEERING,
|
||||
)
|
||||
self.safety.init_tests()
|
||||
for addr, bus in self.LONG_TX_MSGS[len(self.TX_MSGS):]:
|
||||
length = 32 if addr == 0x51 else 8
|
||||
self.assertFalse(self.safety.safety_tx_hook(common.make_msg(bus, addr, length)), hex(addr))
|
||||
|
||||
def test_hda2_longitudinal_acceleration_and_diagnostics_are_checked(self):
|
||||
flags = HyundaiSafetyFlags.CAN_CANFD_BLENDED | HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, flags)
|
||||
self.safety.init_tests()
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
for accel, allowed in ((-3.5, True), (3.5, True), (-3.51, False), (3.51, False)):
|
||||
msg = self.packer.make_can_msg_panda("SCC11", 1, {"aReqRaw": accel, "aReqValue": accel})
|
||||
self.assertEqual(allowed, self.safety.safety_tx_hook(msg))
|
||||
|
||||
valid_tester = libsafety_py.make_CANPacket(0x730, 1, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
|
||||
invalid_tester = libsafety_py.make_CANPacket(0x730, 1, b"\x03\x28\x83\x01\x00\x00\x00\x00")
|
||||
self.assertTrue(self.safety.safety_tx_hook(valid_tester))
|
||||
self.assertFalse(self.safety.safety_tx_hook(invalid_tester))
|
||||
|
||||
fca_status = self.packer.make_can_msg_panda("FCA11", 1, {"cr_vsm_deccmd": 255, "cf_vsm_deccmdact": 0})
|
||||
fca_request = self.packer.make_can_msg_panda("FCA11", 1, {"aeb_cmd_act": 1})
|
||||
self.assertTrue(self.safety.safety_tx_hook(fca_status))
|
||||
self.assertFalse(self.safety.safety_tx_hook(fca_request))
|
||||
|
||||
|
||||
class TestHyundaiSafetyFCEV(TestHyundaiSafety):
|
||||
def setUp(self):
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
import unittest
|
||||
|
||||
from opendbc.car import make_tester_present_msg
|
||||
from opendbc.car.nissan import nissancan
|
||||
from opendbc.car.nissan.values import NissanSafetyFlags
|
||||
from opendbc.car.structs import CarParams
|
||||
@@ -261,7 +260,7 @@ class TestNissanLeafLongSafety(TestNissanLeafSafety):
|
||||
self.assertTrue(self._tx(self._brake_msg(0, active=False, brake_mode=False)))
|
||||
|
||||
def test_tester_present(self):
|
||||
tester_present = make_tester_present_msg(0x707, 0, suppress_response=True)
|
||||
tester_present = nissancan.create_leaf_adas_tester_present()
|
||||
self.assertTrue(self._tx(self._make_msg(tester_present)))
|
||||
|
||||
for index in range(8):
|
||||
|
||||
@@ -0,0 +1,342 @@
|
||||
#!/usr/bin/env python3
|
||||
import numpy as np
|
||||
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.volkswagen.values import VolkswagenSafetyFlags
|
||||
from opendbc.safety.tests.libsafety import libsafety_py
|
||||
import opendbc.safety.tests.common as common
|
||||
from opendbc.safety.tests.common import CANPackerSafety
|
||||
|
||||
MAX_ACCEL = 2.0
|
||||
MIN_ACCEL = -3.5
|
||||
|
||||
# MEB message IDs
|
||||
MSG_LH_EPS_03 = 0x9F
|
||||
MSG_ESC_51 = 0xFC
|
||||
MSG_Motor_51 = 0x10B
|
||||
MSG_GRA_ACC_01 = 0x12B
|
||||
MSG_QFK_01 = 0x13D
|
||||
MSG_ACC_18 = 0x14D
|
||||
MSG_KLR_01 = 0x25D
|
||||
MSG_TA_01 = 0x26B
|
||||
MSG_ACC_19 = 0x300
|
||||
MSG_HCA_03 = 0x303
|
||||
MSG_LDW_02 = 0x397
|
||||
MSG_MOTOR_14 = 0x3BE
|
||||
|
||||
|
||||
class TestVolkswagenMebSafetyBase(common.CarSafetyTest, common.CurvatureSteeringSafetyTest):
|
||||
STANDSTILL_THRESHOLD = 0
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_03, MSG_LDW_02), 2: (MSG_KLR_01,)}
|
||||
|
||||
MAX_CURVATURE = 29105
|
||||
MAX_CURVATURE_TEST = 0.195
|
||||
CURVATURE_TO_CAN = 149253.7313
|
||||
MAX_POWER = 125
|
||||
MAX_POWER_TEST = 50
|
||||
SEND_RATE = 0.02
|
||||
LATERAL_FREQUENCY = 50 # Hz
|
||||
|
||||
cnt_curvature_cmd = 0
|
||||
|
||||
def _set_prev_desired_power(self, power: int):
|
||||
# init with local tx sequence
|
||||
prev_allowed = self.safety.get_controls_allowed()
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._tx(self._curvature_cmd_msg(0, steer_req=True, power=power))
|
||||
self.safety.set_controls_allowed(prev_allowed)
|
||||
|
||||
def test_power_limit(self):
|
||||
max_power_can = self.MAX_POWER
|
||||
max_power = self.MAX_POWER_TEST
|
||||
self._set_prev_desired_power(max_power_can)
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power)))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power + 1)))
|
||||
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power - 1)))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=max_power)))
|
||||
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power)))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=-max_power)))
|
||||
|
||||
def test_power_without_control(self):
|
||||
max_power_can = self.MAX_POWER
|
||||
max_power = self.MAX_POWER_TEST
|
||||
self._set_prev_desired_power(max_power_can)
|
||||
self.safety.set_controls_allowed(False)
|
||||
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=max_power)))
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=0)))
|
||||
|
||||
self._set_prev_desired_power(max_power - 1)
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=False, power=max_power)))
|
||||
|
||||
# When controls are not allowed, steer_req=True is gated only by the power check:
|
||||
# steady or rising power is disallowed, but a strictly decreasing power (steering
|
||||
# wind-down at disengagement) is permitted so the EPS torque authority ramps to zero
|
||||
self._set_prev_desired_power(max_power - 1)
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power))) # rising power
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power))) # steady power
|
||||
self.assertTrue(self._tx(self._curvature_cmd_msg(0, steer_req=True, power=max_power - 1))) # decreasing power
|
||||
|
||||
def _speed_msg(self, speed_mps: float):
|
||||
spd_kph = speed_mps * 3.6
|
||||
values = {f"{s}_Radgeschw": spd_kph for s in ("VL", "VR", "HL", "HR")}
|
||||
return self.packer.make_can_msg_safety("ESC_51", 0, values)
|
||||
|
||||
def _speed_msg_2(self, speed_mps: float):
|
||||
values = {"ESP_v_Signal": speed_mps * 3.6}
|
||||
return self.packer.make_can_msg_safety("ESP_21", 0, values)
|
||||
|
||||
def _motor_14_msg(self, brake):
|
||||
values = {"MO_Fahrer_bremst": brake}
|
||||
return self.packer.make_can_msg_safety("Motor_14", 0, values)
|
||||
|
||||
def _user_brake_msg(self, brake):
|
||||
return self._motor_14_msg(brake)
|
||||
|
||||
def _user_gas_msg(self, gas):
|
||||
values = {"Accel_Pedal_Pressure": 1 if gas else 0, "TSK_Status": 3}
|
||||
return self.packer.make_can_msg_safety("Motor_51", 0, values)
|
||||
|
||||
def _vehicle_moving_msg(self, speed_mps: float):
|
||||
return self._speed_msg(speed_mps)
|
||||
|
||||
def _curvature_meas_msg(self, curvature):
|
||||
values = {"Curvature": abs(curvature), "Curvature_VZ": curvature > 0}
|
||||
return self.packer.make_can_msg_safety("QFK_01", 0, values)
|
||||
|
||||
def _curvature_cmd_msg(self, curvature, steer_req=1, power=50, increment_timer=True):
|
||||
if increment_timer:
|
||||
self.safety.set_timer(self.cnt_curvature_cmd * int(1e6 / self.LATERAL_FREQUENCY))
|
||||
self.__class__.cnt_curvature_cmd += 1
|
||||
values = {
|
||||
"Curvature": abs(curvature),
|
||||
"Curvature_VZ": curvature > 0,
|
||||
"RequestStatus": 4 if steer_req else 0,
|
||||
"Power": power,
|
||||
}
|
||||
return self.packer.make_can_msg_safety("HCA_03", 0, values)
|
||||
|
||||
def _accel_msg(self, accel):
|
||||
values = {"ACC_Sollbeschleunigung_02": accel}
|
||||
return self.packer.make_can_msg_safety("ACC_18", 0, values)
|
||||
|
||||
def _tsk_status_msg(self, enable, main_switch=True):
|
||||
if main_switch:
|
||||
tsk_status = 3 if enable else 2
|
||||
else:
|
||||
tsk_status = 0
|
||||
values = {"TSK_Status": tsk_status}
|
||||
return self.packer.make_can_msg_safety("Motor_51", 0, values)
|
||||
|
||||
def _pcm_status_msg(self, enable):
|
||||
return self._tsk_status_msg(enable)
|
||||
|
||||
def _torque_driver_msg(self, torque):
|
||||
values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
|
||||
return self.packer.make_can_msg_safety("LH_EPS_03", 0, values)
|
||||
|
||||
def _button_msg(self, cancel=0, resume=0, _set=0, bus=2):
|
||||
values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, "GRA_Tip_Wiederaufnahme": resume}
|
||||
return self.packer.make_can_msg_safety("GRA_ACC_01", bus, values)
|
||||
|
||||
def test_curvature_measurements(self):
|
||||
self._rx(self._curvature_meas_msg(0.15))
|
||||
self._rx(self._curvature_meas_msg(-0.1))
|
||||
self._rx(self._curvature_meas_msg(0))
|
||||
self._rx(self._curvature_meas_msg(0))
|
||||
self._rx(self._curvature_meas_msg(0))
|
||||
self._rx(self._curvature_meas_msg(0))
|
||||
|
||||
self.assertEqual(int(-0.1 * self.CURVATURE_TO_CAN), self.safety.get_curvature_meas_min())
|
||||
self.assertEqual(int(0.15 * self.CURVATURE_TO_CAN), self.safety.get_curvature_meas_max())
|
||||
|
||||
self._rx(self._curvature_meas_msg(0))
|
||||
self.assertEqual(0, self.safety.get_curvature_meas_max())
|
||||
self.assertEqual(int(-0.1 * self.CURVATURE_TO_CAN), self.safety.get_curvature_meas_min())
|
||||
|
||||
self._rx(self._curvature_meas_msg(0))
|
||||
self.assertEqual(0, self.safety.get_curvature_meas_max())
|
||||
self.assertEqual(0, self.safety.get_curvature_meas_min())
|
||||
|
||||
def test_brake_signal(self):
|
||||
self._rx(self._user_brake_msg(False))
|
||||
self.assertFalse(self.safety.get_brake_pressed_prev())
|
||||
self._rx(self._user_brake_msg(True))
|
||||
self.assertTrue(self.safety.get_brake_pressed_prev())
|
||||
|
||||
def test_torque_driver_measurements(self):
|
||||
for t in (0, 100, -100, 250, -250):
|
||||
self._rx(self._torque_driver_msg(t))
|
||||
|
||||
def test_main_switch_off_disables_controls(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._rx(self._tsk_status_msg(False, main_switch=False))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_cancel_button_rising_edge(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._rx(self._button_msg(cancel=1, bus=0))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_rx_hook_speed_mismatch(self):
|
||||
for speed in np.arange(0, 40, 0.5):
|
||||
for speed_delta in np.arange(-5, 5, 0.1):
|
||||
speed_2 = round(max(speed + speed_delta, 0), 1)
|
||||
self._rx(self._speed_msg(speed))
|
||||
self._rx(self._speed_msg_2(speed_2))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._tx(self._curvature_cmd_msg(0, steer_req=True))
|
||||
|
||||
within_delta = abs(speed - speed_2) <= common.MAX_SPEED_DELTA
|
||||
self.assertEqual(self.safety.get_controls_allowed(), within_delta)
|
||||
|
||||
def test_curvature_violation(self):
|
||||
# if violation occurs, desired_curvature_last is reset to 0
|
||||
meas = self.MAX_CURVATURE_TEST / 4
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._reset_curvature_measurement(meas)
|
||||
self._set_prev_desired_curvature(0)
|
||||
|
||||
# cause a violation by sending a command far from prev=0
|
||||
self.assertFalse(self._tx(self._curvature_cmd_msg(self.MAX_CURVATURE_TEST, steer_req=True, power=50)))
|
||||
|
||||
# prev should be reset to 0
|
||||
self.assertEqual(0, self.safety.get_desired_curvature_last())
|
||||
|
||||
def test_curvature_cmd_when_not_steering(self):
|
||||
# Tests that only a zero curvature is allowed while the steer
|
||||
# actuation bit is 0, regardless of controls allowed or meas
|
||||
for controls_allowed in (True, False):
|
||||
self.safety.set_controls_allowed(controls_allowed)
|
||||
|
||||
for steer_req in (True, False):
|
||||
for curvature_meas in np.arange(-self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST / 5):
|
||||
self._reset_curvature_measurement(curvature_meas)
|
||||
|
||||
for curvature_cmd in np.arange(-self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST, self.MAX_CURVATURE_TEST / 5):
|
||||
self._set_prev_desired_curvature(curvature_cmd)
|
||||
|
||||
# controls_allowed is checked if actuation bit is 1, else the curvature must be zero (inactive)
|
||||
should_tx = controls_allowed if steer_req else round(curvature_cmd * self.CURVATURE_TO_CAN) == 0
|
||||
self.assertEqual(should_tx, self._tx(self._curvature_cmd_msg(curvature_cmd, steer_req=steer_req, power=50 if steer_req else 0)))
|
||||
|
||||
|
||||
class TestVolkswagenMebStockSafety(TestVolkswagenMebSafetyBase):
|
||||
TX_MSGS = [[MSG_HCA_03, 0], [MSG_LDW_02, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2],
|
||||
[MSG_KLR_01, 0], [MSG_KLR_01, 2]]
|
||||
FWD_BLACKLISTED_ADDRS = {0: [MSG_KLR_01], 2: [MSG_HCA_03, MSG_LDW_02]}
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("vw_meb_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, 0)
|
||||
self.safety.init_tests()
|
||||
|
||||
def test_spam_cancel_safety_check(self):
|
||||
self.safety.set_controls_allowed(0)
|
||||
self.assertTrue(self._tx(self._button_msg(cancel=1)))
|
||||
self.assertFalse(self._tx(self._button_msg(resume=1)))
|
||||
self.assertFalse(self._tx(self._button_msg(_set=1)))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.assertTrue(self._tx(self._button_msg(resume=1)))
|
||||
|
||||
|
||||
class TestVolkswagenMebGen2StockSafety(TestVolkswagenMebStockSafety):
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("vw_meb_2024_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, VolkswagenSafetyFlags.MEB_ALT_CRC)
|
||||
self.safety.init_tests()
|
||||
|
||||
|
||||
class TestVolkswagenMebLongSafety(TestVolkswagenMebSafetyBase):
|
||||
TX_MSGS = [[MSG_HCA_03, 0], [MSG_LDW_02, 0], [MSG_ACC_19, 0], [MSG_ACC_18, 0],
|
||||
[MSG_TA_01, 0], [MSG_KLR_01, 0], [MSG_KLR_01, 2]]
|
||||
FWD_BLACKLISTED_ADDRS = {0: [MSG_KLR_01],
|
||||
2: [MSG_HCA_03, MSG_LDW_02, MSG_ACC_19, MSG_ACC_18, MSG_TA_01]}
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_03, MSG_LDW_02, MSG_ACC_19, MSG_ACC_18, MSG_TA_01),
|
||||
2: (MSG_KLR_01,)}
|
||||
|
||||
ACCEL_OVERRIDE = 0
|
||||
INACTIVE_ACCEL = 3.01
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("vw_meb_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, VolkswagenSafetyFlags.LONG_CONTROL)
|
||||
self.safety.init_tests()
|
||||
|
||||
# stock cruise controls are entirely bypassed under openpilot longitudinal control
|
||||
def test_disable_control_allowed_from_cruise(self):
|
||||
pass
|
||||
|
||||
def test_enable_control_allowed_from_cruise(self):
|
||||
pass
|
||||
|
||||
def test_cruise_engaged_prev(self):
|
||||
pass
|
||||
|
||||
def test_set_and_resume_buttons(self):
|
||||
for button in ["set", "resume"]:
|
||||
# ACC main switch must be on, engage on falling edge
|
||||
self.safety.set_controls_allowed(0)
|
||||
self._rx(self._tsk_status_msg(False, main_switch=False))
|
||||
self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
|
||||
self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off")
|
||||
self._rx(self._tsk_status_msg(False, main_switch=True))
|
||||
self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
|
||||
self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge")
|
||||
self._rx(self._button_msg(bus=0))
|
||||
self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge")
|
||||
|
||||
def test_cancel_button(self):
|
||||
# Disable on rising edge of cancel button
|
||||
self._rx(self._tsk_status_msg(False, main_switch=True))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self._rx(self._button_msg(cancel=True, bus=0))
|
||||
self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
|
||||
|
||||
def test_main_switch(self):
|
||||
# Disable as soon as main switch turns off
|
||||
self._rx(self._tsk_status_msg(False, main_switch=True))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self._rx(self._tsk_status_msg(False, main_switch=False))
|
||||
self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
|
||||
|
||||
def test_accel_safety_check(self):
|
||||
for controls_allowed in [True, False]:
|
||||
for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])):
|
||||
accel = round(accel, 2)
|
||||
is_inactive_accel = accel == self.INACTIVE_ACCEL
|
||||
send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
|
||||
self.safety.set_controls_allowed(controls_allowed)
|
||||
self.assertEqual(send, self._tx(self._accel_msg(accel)), (controls_allowed, accel))
|
||||
|
||||
def test_accel_override_with_gas(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.safety.set_gas_pressed_prev(True)
|
||||
self.assertTrue(self._tx(self._accel_msg(self.ACCEL_OVERRIDE)))
|
||||
self.assertFalse(self._tx(self._accel_msg(MAX_ACCEL)))
|
||||
|
||||
|
||||
class TestVolkswagenMebGen2LongSafety(TestVolkswagenMebLongSafety):
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("vw_meb_2024_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb,
|
||||
VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.MEB_ALT_CRC)
|
||||
self.safety.init_tests()
|
||||
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|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-230ed14e-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-284dbddd-DEBUG";
|
||||
|
||||
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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user