mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-09-30 11:23:44 +08:00
lp-dp 2023-08-02T01:57:46 for EON/C2
version: lp-dp v0.9.4 for EON/C2 date: 2023-08-02T01:57:46 commit: 63c51d4b134e443b1ffa59dfe0fc2d50d5e0f446
This commit is contained in:
Vehicle Researcher
@@ -45,7 +45,9 @@ selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
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system/proclogd/proclogd
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||||
selfdrive/ui/_ui
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||||
selfdrive/ui/translations/alerts_generated.h
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||||
selfdrive/test/longitudinal_maneuvers/out
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||||
selfdrive/car/tests/cars_dump
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||||
system/camerad/camerad
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||||
system/camerad/test/ae_gray_test
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||||
selfdrive/modeld/_modeld
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||||
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+22
-3
@@ -1,11 +1,30 @@
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||||
Version 0.9.3 (2023-06-XX)
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||||
Version 0.9.4 (2023-XX-XX)
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||||
========================
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* Navigate on openpilot
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* When navigation has a destination openpilot will input the map information into the model, generally improving behavior
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* When navigating on openpilot, openpilot will keep left or right appropriately at forks/exits and take turns
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* When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
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* UI updates
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* Navigation settings moved to home screen and map
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* UI alerts rework
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* Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
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* Alerts are shown inside the border. Black/grey means info, orange means warning, and red means critical alert
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* Bookmarked segments are preserved on the device's storage
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* Ford Focus 2018 support
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* Kia Carnival 2023 support thanks to sunnyhaibin!
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||||
Version 0.9.3 (2023-06-29)
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||||
========================
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* New driving model
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* Improved height estimation and added height tracking in liveCalibration
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* Model inputs refactor
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* New driving personality setting
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* Three settings: aggressive, standard, and relaxed
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* Standard is recommended and the default
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* In aggressive mode lead follow distance is shorter and quicker gas/brake response
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* In relaxed mode lead follow distance is longer
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||||
* In aggressive mode, lead follow distance is shorter and acceleration response is quicker
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* In relaxed mode, lead follow distance is longer
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* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
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||||
* Improved thermal management logic
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||||
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||||
Version 0.9.2 (2023-05-22)
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||||
========================
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+4
-3
@@ -23,6 +23,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
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||||
libzmq3-dev \
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llvm \
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make \
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cmake \
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ocl-icd-opencl-dev \
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opencl-headers \
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python-openssl \
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@@ -34,10 +35,10 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
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||||
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||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
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||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
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||||
RUN pyenv install 3.8.10 && \
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pyenv global 3.8.10 && \
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RUN pyenv install 3.11.4 && \
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pyenv global 3.11.4 && \
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pyenv rehash && \
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pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
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pip3 install --no-cache-dir pyyaml Cython scons pycapnp==1.1.0 pre-commit pylint parameterized coverage numpy
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||||
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||||
WORKDIR /project/
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||||
RUN cd /tmp/ && \
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+5
-5
@@ -166,7 +166,7 @@ struct CarState {
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# gas pedal, 0.0-1.0
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gas @3 :Float32; # this is user pedal only
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gasPressed @4 :Bool; # this is user pedal only
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||||
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engineRpm @46 :Float32;
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||||
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# brake pedal, 0.0-1.0
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@@ -628,6 +628,7 @@ struct CarParams {
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||||
engine @4;
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unknown @5;
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transmission @8; # Transmission Control Module
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||||
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
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srs @9; # airbag
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gateway @10; # can gateway
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hud @11; # heads up display
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||||
@@ -638,6 +639,9 @@ struct CarParams {
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cornerRadar @21;
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hvac @20;
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parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
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epb @22; # electronic parking brake
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telematics @23;
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body @24; # body control module
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# Toyota only
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dsu @6;
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||||
@@ -646,11 +650,7 @@ struct CarParams {
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||||
vsa @13; # Vehicle Stability Assist
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||||
programmedFuelInjection @14;
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||||
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||||
# Chrysler only
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||||
hcp @18; # Hybrid Control Processor
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||||
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||||
debug @17;
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unused @22;
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||||
}
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||||
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||||
enum FingerprintSource {
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||||
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||||
+46
-2
@@ -31,10 +31,54 @@ struct LiveMapData @0x81c2f05a394cf4af {
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||||
lastGpsBearingAccuracyDeg @19 :Float32;
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||||
}
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||||
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||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
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||||
struct LongitudinalPlanExt @0xaedffd8f31e7b55d {
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||||
visionTurnControllerState @0 :VisionTurnControllerState;
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||||
visionTurnSpeed @1 :Float32;
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||||
speedLimitControlState @2 :SpeedLimitControlState;
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||||
speedLimit @3 :Float32;
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||||
speedLimitOffset @4 :Float32;
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||||
distToSpeedLimit @5 :Float32;
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||||
isMapSpeedLimit @6 :Bool;
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||||
speedLimitPercOffset @7 :Bool;
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||||
speedLimitValueOffset @8 :Float32;
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||||
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||||
distToTurn @9 :Float32;
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||||
turnSpeed @10 :Float32;
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||||
turnSpeedControlState @11 :SpeedLimitControlState;
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||||
turnSign @12 :Int16;
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||||
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||||
dpE2EIsBlended @13 :Bool;
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||||
longitudinalPlanExtSource @14 :LongitudinalPlanExtSource;
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||||
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enum LongitudinalPlanExtSource {
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cruise @0;
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lead0 @1;
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lead1 @2;
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lead2 @3;
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e2e @4;
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turn @5;
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limit @6;
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turnlimit @7;
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}
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enum SpeedLimitControlState {
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inactive @0; # No speed limit set or not enabled by parameter.
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tempInactive @1; # User wants to ignore speed limit until it changes.
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adapting @2; # Reducing speed to match new speed limit.
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||||
active @3; # Cruising at speed limit.
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||||
}
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||||
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enum VisionTurnControllerState {
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||||
disabled @0; # No predicted substancial turn on vision range or feature disabled.
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entering @1; # A subsantial turn is predicted ahead, adapting speed to turn confort levels.
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turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
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leaving @3; # Road ahead straightens. Start to allow positive acceleration.
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}
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||||
}
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||||
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||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
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||||
struct LateralPlanExt @0xf35cc4560bbf6ec2 {
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||||
dPathWLinesX @0 :List(Float32);
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||||
dPathWLinesY @1 :List(Float32);
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||||
}
|
||||
|
||||
struct CustomReserved3 @0xda96579883444c35 {
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||||
|
||||
Binary file not shown.
+57
-16
@@ -16,12 +16,12 @@ struct Map(Key, Value) {
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||||
value @1 :Value;
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||||
}
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||||
}
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||||
|
||||
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||||
enum LongitudinalPersonality {
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||||
aggressive @0;
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||||
standard @1;
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||||
relaxed @2;
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||||
}
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||||
aggressive @0;
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||||
standard @1;
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||||
relaxed @2;
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||||
}
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||||
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||||
struct InitData {
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||||
kernelArgs @0 :List(Text);
|
||||
@@ -132,7 +132,6 @@ struct FrameData {
|
||||
frameIdSensor @25 :UInt32;
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||||
|
||||
frameType @7 :FrameType;
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||||
frameLength @3 :Int32;
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||||
|
||||
# Timestamps
|
||||
timestampEof @2 :UInt64;
|
||||
@@ -167,6 +166,7 @@ struct FrameData {
|
||||
ox03c10 @2;
|
||||
}
|
||||
|
||||
frameLengthDEPRECATED @3 :Int32;
|
||||
globalGainDEPRECATED @5 :Int32;
|
||||
androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
|
||||
lensPosDEPRECATED @11 :Int32;
|
||||
@@ -334,6 +334,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
nvmeTempC @35 :List(Float32);
|
||||
modemTempC @36 :List(Float32);
|
||||
pmicTempC @39 :List(Float32);
|
||||
maxTempC @44 :Float32; # max of other temps, used to control fan
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
|
||||
@@ -522,6 +523,10 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
canfdEnabled @18 :Bool;
|
||||
brsEnabled @19 :Bool;
|
||||
canfdNonIso @20 :Bool;
|
||||
irq0CallRate @21 :UInt32;
|
||||
irq1CallRate @22 :UInt32;
|
||||
irq2CallRate @23 :UInt32;
|
||||
canCoreResetCnt @24 :UInt32;
|
||||
|
||||
enum LecErrorCode {
|
||||
noError @0;
|
||||
@@ -859,10 +864,14 @@ struct ModelDataV2 {
|
||||
leadsV3 @18 :List(LeadDataV3);
|
||||
|
||||
meta @12 :MetaData;
|
||||
confidence @23: ConfidenceClass;
|
||||
|
||||
# Model perceived motion
|
||||
temporalPose @21 :Pose;
|
||||
|
||||
navEnabled @22 :Bool;
|
||||
locationMonoTime @24 :UInt64;
|
||||
|
||||
|
||||
struct LeadDataV2 {
|
||||
prob @0 :Float32; # probability that car is your lead at time t
|
||||
@@ -907,6 +916,12 @@ struct ModelDataV2 {
|
||||
steerOverrideProbDEPRECATED @4 :Float32;
|
||||
}
|
||||
|
||||
enum ConfidenceClass {
|
||||
red @0;
|
||||
yellow @1;
|
||||
green @2;
|
||||
}
|
||||
|
||||
struct DisengagePredictions {
|
||||
t @0 :List(Float32);
|
||||
brakeDisengageProbs @1 :List(Float32);
|
||||
@@ -945,13 +960,17 @@ struct EncodeIndex {
|
||||
len @9 :UInt32;
|
||||
|
||||
enum Type {
|
||||
bigBoxLossless @0; # rcamera.mkv
|
||||
fullHEVC @1; # fcamera.hevc
|
||||
bigBoxHEVC @2; # bcamera.hevc
|
||||
chffrAndroidH264 @3; # acamera
|
||||
fullLosslessClip @4; # prcamera.mkv
|
||||
front @5; # dcamera.hevc
|
||||
qcameraH264 @6; # qcamera.ts
|
||||
bigBoxLossless @0;
|
||||
fullHEVC @1;
|
||||
qcameraH264 @6;
|
||||
livestreamH264 @7;
|
||||
|
||||
# deprecated
|
||||
bigBoxHEVCDEPRECATED @2;
|
||||
chffrAndroidH264DEPRECATED @3;
|
||||
fullLosslessClipDEPRECATED @4;
|
||||
front @5;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1004,7 +1023,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
aTargetMinDEPRECATED @4 :Float32;
|
||||
aTargetMaxDEPRECATED @5 :Float32;
|
||||
lateralValidDEPRECATED @0 :Bool;
|
||||
longitudinalValid @2 :Bool;
|
||||
longitudinalValidDEPRECATED @2 :Bool;
|
||||
dPolyDEPRECATED @1 :List(Float32);
|
||||
laneWidthDEPRECATED @11 :Float32;
|
||||
vCurvatureDEPRECATED @21 :Float32;
|
||||
@@ -1048,6 +1067,13 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
|
||||
curvatureRates @28 :List(Float32);
|
||||
|
||||
solverExecutionTime @30 :Float32;
|
||||
solverCost @32 :Float32;
|
||||
solverState @33 :SolverState;
|
||||
|
||||
struct SolverState {
|
||||
x @0 :List(List(Float32));
|
||||
u @1 :List(Float32);
|
||||
}
|
||||
|
||||
enum Desire {
|
||||
none @0;
|
||||
@@ -1221,6 +1247,8 @@ struct GnssMeasurements {
|
||||
svId @1 :UInt8;
|
||||
type @2 :EphemerisType;
|
||||
source @3 :EphemerisSource;
|
||||
gpsWeek @4 : UInt16;
|
||||
tow @5 :Float64;
|
||||
}
|
||||
|
||||
struct CorrectedMeasurement {
|
||||
@@ -1794,6 +1822,9 @@ struct QcomGnss @0xde94674b07ae51c1 {
|
||||
elevationDot @20 :Float32;
|
||||
elevationUncertainty @21 :Float32;
|
||||
velocityCoeff @22 :List(Float64);
|
||||
|
||||
gpsWeek @23 :UInt16;
|
||||
gpsTow @24 :Float64;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1943,6 +1974,7 @@ struct LiveParametersData {
|
||||
stiffnessFactorStd @12 :Float32;
|
||||
steerRatioStd @13 :Float32;
|
||||
roll @14 :Float32;
|
||||
filterState @15 :LiveLocationKalman.Measurement;
|
||||
|
||||
yawRateDEPRECATED @7 :Float32;
|
||||
}
|
||||
@@ -2088,6 +2120,7 @@ struct MapRenderState {
|
||||
|
||||
struct NavModelData {
|
||||
frameId @0 :UInt32;
|
||||
locationMonoTime @6 :UInt64;
|
||||
modelExecutionTime @1 :Float32;
|
||||
dspExecutionTime @2 :Float32;
|
||||
features @3 :List(Float32);
|
||||
@@ -2184,6 +2217,10 @@ struct Event {
|
||||
wideRoadEncodeIdx @77 :EncodeIndex;
|
||||
qRoadEncodeIdx @90 :EncodeIndex;
|
||||
|
||||
livestreamRoadEncodeIdx @117 :EncodeIndex;
|
||||
livestreamWideRoadEncodeIdx @118 :EncodeIndex;
|
||||
livestreamDriverEncodeIdx @119 :EncodeIndex;
|
||||
|
||||
# microphone data
|
||||
microphone @103 :Microphone;
|
||||
|
||||
@@ -2214,10 +2251,14 @@ struct Event {
|
||||
wideRoadEncodeData @88 :EncodeData;
|
||||
qRoadEncodeData @89 :EncodeData;
|
||||
|
||||
livestreamRoadEncodeData @120 :EncodeData;
|
||||
livestreamWideRoadEncodeData @121 :EncodeData;
|
||||
livestreamDriverEncodeData @122 :EncodeData;
|
||||
|
||||
# *********** Custom: reserved for forks ***********
|
||||
liveMapData @107 :Custom.LiveMapData;
|
||||
customReserved1 @108 :Custom.CustomReserved1;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
longitudinalPlanExt @108 :Custom.LongitudinalPlanExt;
|
||||
lateralPlanExt @109 :Custom.LateralPlanExt;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
customReserved4 @111 :Custom.CustomReserved4;
|
||||
customReserved5 @112 :Custom.CustomReserved5;
|
||||
|
||||
@@ -1,10 +1,12 @@
|
||||
# must be build with scons
|
||||
# must be built with scons
|
||||
from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event # pylint: disable=no-name-in-module, import-error
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
|
||||
from typing import Optional, List, Union
|
||||
from typing import Optional, List, Union, Dict, Deque
|
||||
from collections import deque
|
||||
|
||||
from cereal import log
|
||||
@@ -20,13 +22,11 @@ assert wait_for_one_event
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
AVG_FREQ_HISTORY = 100
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
|
||||
# sec_since_boot is faster, but allow to run standalone too
|
||||
try:
|
||||
from common.realtime import sec_since_boot
|
||||
except ImportError:
|
||||
import time
|
||||
sec_since_boot = time.time
|
||||
print("Warning, using python time.time() instead of faster sec_since_boot")
|
||||
|
||||
@@ -166,7 +166,7 @@ class SubMaster:
|
||||
self.rcv_frame = {s: 0 for s in services}
|
||||
self.alive = {s: False for s in services}
|
||||
self.freq_ok = {s: False for s in services}
|
||||
self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
|
||||
self.recv_dts: Dict[str, Deque[float]] = {s: deque(maxlen=AVG_FREQ_HISTORY) for s in services}
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
@@ -179,6 +179,7 @@ class SubMaster:
|
||||
|
||||
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
|
||||
self.ignore_alive = [] if ignore_alive is None else ignore_alive
|
||||
self.simulation = bool(int(os.getenv("SIMULATION", "0")))
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
@@ -198,6 +199,10 @@ class SubMaster:
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def _check_avg_freq(self, s):
|
||||
return self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
|
||||
and (s not in self.ignore_average_freq)
|
||||
|
||||
def update(self, timeout: int = 1000) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
@@ -218,8 +223,7 @@ class SubMaster:
|
||||
s = msg.which()
|
||||
self.updated[s] = True
|
||||
|
||||
if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
|
||||
and (s not in self.ignore_average_freq):
|
||||
if self._check_avg_freq(s):
|
||||
self.recv_dts[s].append(cur_time - self.rcv_time[s])
|
||||
|
||||
self.rcv_time[s] = cur_time
|
||||
@@ -228,11 +232,11 @@ class SubMaster:
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
if SIMULATION:
|
||||
if self.simulation:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = True
|
||||
|
||||
if not SIMULATION:
|
||||
if not self.simulation:
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
@@ -241,9 +245,15 @@ class SubMaster:
|
||||
|
||||
# TODO: check if update frequency is high enough to not drop messages
|
||||
# freq_ok if average frequency is higher than 90% of expected frequency
|
||||
avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
|
||||
expected_dt = 1 / (self.freq[s] * 0.90)
|
||||
self.freq_ok[s] = (avg_dt < expected_dt)
|
||||
if self._check_avg_freq(s):
|
||||
if len(self.recv_dts[s]) > 0:
|
||||
avg_dt = sum(self.recv_dts[s]) / len(self.recv_dts[s])
|
||||
expected_dt = 1 / (self.freq[s] * 0.90)
|
||||
self.freq_ok[s] = (avg_dt < expected_dt)
|
||||
else:
|
||||
self.freq_ok[s] = False
|
||||
else:
|
||||
self.freq_ok[s] = True
|
||||
else:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = True
|
||||
@@ -282,5 +292,13 @@ class PubMaster:
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def wait_for_readers_to_update(self, s: str, timeout: int) -> bool:
|
||||
dt = 0.05
|
||||
for _ in range(int(timeout*(1./dt))):
|
||||
if self.sock[s].all_readers_updated():
|
||||
return True
|
||||
time.sleep(dt)
|
||||
return False
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated() # type: ignore
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+12
-4
@@ -28,7 +28,7 @@ static struct service services[] = {
|
||||
{ "carState", 8024, true, 100, 10 },
|
||||
{ "carControl", 8025, true, 100, 10 },
|
||||
{ "longitudinalPlan", 8026, true, 20, 5 },
|
||||
{ "procLog", 8027, true, 0, -1 },
|
||||
{ "procLog", 8027, true, 0, 15 },
|
||||
{ "gpsLocationExternal", 8028, true, 10, 10 },
|
||||
{ "gpsLocation", 8029, true, 1, 1 },
|
||||
{ "ubloxGnss", 8030, true, 10, -1 },
|
||||
@@ -68,9 +68,17 @@ static struct service services[] = {
|
||||
{ "driverEncodeData", 8064, false, 20, -1 },
|
||||
{ "wideRoadEncodeData", 8065, false, 20, -1 },
|
||||
{ "qRoadEncodeData", 8066, false, 20, -1 },
|
||||
{ "driverState", 8067, true, 10, 5 },
|
||||
{ "sensorEvents", 8068, true, 100, 100 },
|
||||
{ "liveMapData", 8069, true, 0, -1 },
|
||||
{ "livestreamWideRoadEncodeIdx", 8067, false, 20, -1 },
|
||||
{ "livestreamRoadEncodeIdx", 8068, false, 20, -1 },
|
||||
{ "livestreamDriverEncodeIdx", 8069, false, 20, -1 },
|
||||
{ "livestreamWideRoadEncodeData", 8070, false, 20, -1 },
|
||||
{ "livestreamRoadEncodeData", 8071, false, 20, -1 },
|
||||
{ "livestreamDriverEncodeData", 8072, false, 20, -1 },
|
||||
{ "driverState", 8073, true, 10, 5 },
|
||||
{ "sensorEvents", 8074, true, 100, 100 },
|
||||
{ "liveMapData", 8075, false, 0, -1 },
|
||||
{ "longitudinalPlanExt", 8076, false, 20, 5 },
|
||||
{ "lateralPlanExt", 8077, false, 20, 5 },
|
||||
};
|
||||
#endif
|
||||
|
||||
|
||||
+10
-2
@@ -49,7 +49,7 @@ services = {
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 5),
|
||||
"procLog": (True, 0.5),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
@@ -91,12 +91,20 @@ services = {
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeIdx": (False, 20.),
|
||||
"livestreamRoadEncodeIdx": (False, 20.),
|
||||
"livestreamDriverEncodeIdx": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20.),
|
||||
"livestreamRoadEncodeData": (False, 20.),
|
||||
"livestreamDriverEncodeData": (False, 20.),
|
||||
|
||||
# legacy
|
||||
"driverState": (True, 10, 5),
|
||||
"sensorEvents": (True, 100., 100),
|
||||
# mapd
|
||||
"liveMapData": (True, 0.),
|
||||
"liveMapData": (False, 0.),
|
||||
"longitudinalPlanExt": (False, 20., 5),
|
||||
"lateralPlanExt": (False, 20., 5),
|
||||
}
|
||||
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
|
||||
idx, (name, vals) in enumerate(services.items())}
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error
|
||||
from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name # pylint: disable=no-name-in-module, import-error
|
||||
assert VisionIpcClient
|
||||
assert VisionIpcServer
|
||||
assert VisionStreamType
|
||||
assert get_endpoint_name
|
||||
|
||||
Executable
+99
@@ -0,0 +1,99 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import random
|
||||
import unittest
|
||||
import numpy as np
|
||||
from cereal.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
|
||||
|
||||
def zmq_sleep(t=1):
|
||||
if "ZMQ" in os.environ:
|
||||
time.sleep(t)
|
||||
|
||||
|
||||
class TestVisionIpc(unittest.TestCase):
|
||||
|
||||
def setup_vipc(self, name, *stream_types, num_buffers=1, rgb=False, width=100, height=100, conflate=False):
|
||||
self.server = VisionIpcServer(name)
|
||||
for stream_type in stream_types:
|
||||
self.server.create_buffers(stream_type, num_buffers, rgb, width, height)
|
||||
self.server.start_listener()
|
||||
|
||||
if len(stream_types):
|
||||
self.client = VisionIpcClient(name, stream_types[0], conflate)
|
||||
self.assertTrue(self.client.connect(True))
|
||||
else:
|
||||
self.client = None
|
||||
|
||||
zmq_sleep()
|
||||
return self.server, self.client
|
||||
|
||||
def test_connect(self):
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
|
||||
self.assertTrue(self.client.is_connected)
|
||||
|
||||
def test_available_streams(self):
|
||||
for k in range(0, 4):
|
||||
stream_types = set(random.choices([x.value for x in VisionStreamType], k=k))
|
||||
self.setup_vipc("camerad", *stream_types)
|
||||
available_streams = VisionIpcClient.available_streams("camerad", True)
|
||||
self.assertEqual(available_streams, stream_types)
|
||||
|
||||
def test_buffers(self):
|
||||
width, height, num_buffers = 100, 200, 5
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, num_buffers=num_buffers, width=width, height=height)
|
||||
self.assertEqual(self.client.width, width)
|
||||
self.assertEqual(self.client.height, height)
|
||||
self.assertGreater(self.client.buffer_len, 0)
|
||||
self.assertEqual(self.client.num_buffers, num_buffers)
|
||||
|
||||
def test_yuv_rgb(self):
|
||||
_, client_yuv = self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, rgb=False)
|
||||
_, client_rgb = self.setup_vipc("navd", VisionStreamType.VISION_STREAM_MAP, rgb=True)
|
||||
self.assertTrue(client_rgb.rgb)
|
||||
self.assertFalse(client_yuv.rgb)
|
||||
|
||||
def test_send_single_buffer(self):
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
|
||||
|
||||
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
|
||||
buf.view('<i4')[0] = 1234
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1337)
|
||||
|
||||
recv_buf = self.client.recv()
|
||||
self.assertIsNot(recv_buf, None)
|
||||
self.assertEqual(recv_buf.view('<i4')[0], 1234)
|
||||
self.assertEqual(self.client.frame_id, 1337)
|
||||
|
||||
def test_no_conflate(self):
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
|
||||
|
||||
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
|
||||
|
||||
recv_buf = self.client.recv()
|
||||
self.assertIsNot(recv_buf, None)
|
||||
self.assertEqual(self.client.frame_id, 1)
|
||||
|
||||
recv_buf = self.client.recv()
|
||||
self.assertIsNot(recv_buf, None)
|
||||
self.assertEqual(self.client.frame_id, 2)
|
||||
|
||||
def test_conflate(self):
|
||||
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, conflate=True)
|
||||
|
||||
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
|
||||
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
|
||||
|
||||
recv_buf = self.client.recv()
|
||||
self.assertIsNot(recv_buf, None)
|
||||
self.assertEqual(self.client.frame_id, 2)
|
||||
|
||||
recv_buf = self.client.recv()
|
||||
self.assertIs(recv_buf, None)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -9,6 +9,7 @@ struct VisionIpcBufExtra {
|
||||
uint32_t frame_id;
|
||||
uint64_t timestamp_sof;
|
||||
uint64_t timestamp_eof;
|
||||
bool valid;
|
||||
};
|
||||
|
||||
struct VisionIpcPacket {
|
||||
|
||||
@@ -5,19 +5,24 @@ from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.set cimport set
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
from libcpp cimport bool, int
|
||||
|
||||
cdef extern from "cereal/visionipc/visionbuf.h":
|
||||
struct _cl_mem
|
||||
ctypedef _cl_mem * cl_mem
|
||||
|
||||
cdef enum VisionStreamType:
|
||||
pass
|
||||
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
bool rgb
|
||||
size_t len
|
||||
size_t width
|
||||
size_t height
|
||||
size_t stride
|
||||
size_t uv_offset
|
||||
cl_mem buf_cl
|
||||
void set_frame_id(uint64_t id)
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc.h":
|
||||
@@ -25,8 +30,11 @@ cdef extern from "cereal/visionipc/visionipc.h":
|
||||
uint32_t frame_id
|
||||
uint64_t timestamp_sof
|
||||
uint64_t timestamp_eof
|
||||
bool valid
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc_server.h":
|
||||
string get_endpoint_name(string, VisionStreamType)
|
||||
|
||||
cdef cppclass VisionIpcServer:
|
||||
VisionIpcServer(string, void*, void*)
|
||||
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
|
||||
@@ -37,6 +45,8 @@ cdef extern from "cereal/visionipc/visionipc_server.h":
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc_client.h":
|
||||
cdef cppclass VisionIpcClient:
|
||||
int num_buffers
|
||||
VisionBuf buffers[1]
|
||||
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
|
||||
VisionBuf * recv(VisionIpcBufExtra *, int)
|
||||
bool connect(bool)
|
||||
|
||||
Binary file not shown.
+15
-7
@@ -1,4 +1,4 @@
|
||||
import glob
|
||||
from functools import lru_cache
|
||||
from typing import Optional, List
|
||||
|
||||
def gpio_init(pin: int, output: bool) -> None:
|
||||
@@ -25,12 +25,20 @@ def gpio_read(pin: int) -> Optional[bool]:
|
||||
|
||||
return val
|
||||
|
||||
def get_irq_for_action(action: str) -> List[int]:
|
||||
ret = []
|
||||
for fn in glob.glob('/sys/kernel/irq/*/actions'):
|
||||
with open(fn) as f:
|
||||
@lru_cache(maxsize=None)
|
||||
def get_irq_action(irq: int) -> List[str]:
|
||||
try:
|
||||
with open(f"/sys/kernel/irq/{irq}/actions") as f:
|
||||
actions = f.read().strip().split(',')
|
||||
if action in actions:
|
||||
irq = int(fn.split('/')[-2])
|
||||
return actions
|
||||
except FileNotFoundError:
|
||||
return []
|
||||
|
||||
def get_irqs_for_action(action: str) -> List[str]:
|
||||
ret = []
|
||||
with open("/proc/interrupts") as f:
|
||||
for l in f.readlines():
|
||||
irq = l.split(':')[0].strip()
|
||||
if irq.isdigit() and action in get_irq_action(irq):
|
||||
ret.append(irq)
|
||||
return ret
|
||||
|
||||
@@ -30,7 +30,7 @@ namespace tici_dm_crop {
|
||||
const int width = 954;
|
||||
};
|
||||
|
||||
const mat3 fcam_intrinsic_matrix =
|
||||
const mat3 FCAM_INTRINSIC_MATRIX =
|
||||
Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
|
||||
0., 910., 874.0 / 2,
|
||||
0., 0., 1.}}
|
||||
@@ -40,7 +40,7 @@ const mat3 fcam_intrinsic_matrix =
|
||||
|
||||
// tici ecam focal probably wrong? magnification is not consistent across frame
|
||||
// Need to retrain model before this can be changed
|
||||
const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
|
||||
const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
|
||||
0.0, 567.0, 1208.0 / 2,
|
||||
0.0, 0.0, 1.0}};
|
||||
|
||||
|
||||
+5
-13
@@ -10,6 +10,9 @@ const int LON_MPC_N = 32;
|
||||
const float MIN_DRAW_DISTANCE = 10.0;
|
||||
const float MAX_DRAW_DISTANCE = 100.0;
|
||||
|
||||
const float RYG_GREEN = 0.01165;
|
||||
const float RYG_YELLOW = 0.06157;
|
||||
|
||||
template <typename T, size_t size>
|
||||
constexpr std::array<T, size> build_idxs(float max_val) {
|
||||
std::array<T, size> result{};
|
||||
@@ -24,23 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
|
||||
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
|
||||
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
|
||||
|
||||
const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
|
||||
const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
|
||||
0.0, 2648.0, 1208.0 / 2,
|
||||
0.0, 0.0, 1.0}};
|
||||
|
||||
// tici ecam focal probably wrong? magnification is not consistent across frame
|
||||
// Need to retrain model before this can be changed
|
||||
const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
|
||||
const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
|
||||
0.0, 567.0, 1208.0 / 2,
|
||||
0.0, 0.0, 1.0}};
|
||||
|
||||
static inline mat3 get_model_yuv_transform() {
|
||||
float db_s = 1.0;
|
||||
const mat3 transform = (mat3){{
|
||||
1.0, 0.0, 0.0,
|
||||
0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 1.0
|
||||
}};
|
||||
// Can this be removed since scale is 1?
|
||||
return transform_scale_buffer(transform, db_s);
|
||||
}
|
||||
|
||||
Binary file not shown.
+3
-3
@@ -21,11 +21,11 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
|
||||
|
||||
#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
|
||||
__func__, \
|
||||
fmt, ## __VA_ARGS__);
|
||||
|
||||
fmt, ## __VA_ARGS__)
|
||||
|
||||
#define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
|
||||
__func__, \
|
||||
__VA_ARGS__);
|
||||
__VA_ARGS__)
|
||||
|
||||
|
||||
#define cloudlog_rl(burst, millis, lvl, fmt, ...) \
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
import datetime
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
|
||||
|
||||
def system_time_valid():
|
||||
return datetime.datetime.now() > MIN_DATE
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "2023.07.17"
|
||||
#define COMMA_VERSION "2023.08.02"
|
||||
|
||||
+123
-118
@@ -4,27 +4,27 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 252 Supported Cars
|
||||
# 255 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
|
||||
@@ -34,6 +34,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|
||||
@@ -41,43 +42,43 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|
||||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|
||||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 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 GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -89,26 +90,28 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|
||||
@@ -117,9 +120,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|
||||
@@ -127,10 +130,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
@@ -151,10 +154,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
@@ -162,26 +165,26 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>7,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
@@ -194,8 +197,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -225,54 +228,56 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
|
||||
<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>9</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
|
||||
<sup>10</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>11</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>6</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
|
||||
<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
@@ -144,6 +144,11 @@ function two_init {
|
||||
LIB_PATH="/data/openpilot/system/hardware/eon/libs"
|
||||
PY_LIB_DEST="/system/comma/usr/lib/python3.8/site-packages"
|
||||
mount -o remount,rw /system
|
||||
# libgfortran
|
||||
if [ ! -f "/system/comma/usr/lib/libgfortran.so.5.0.0" ]; then
|
||||
echo "Installing libgfortran..."
|
||||
tar -zxvf "$LIB_PATH/libgfortran.tar.gz" -C /system/comma/usr/lib/
|
||||
fi
|
||||
# mapd
|
||||
MODULE="opspline"
|
||||
if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
|
||||
@@ -232,6 +237,11 @@ function two_init {
|
||||
}
|
||||
|
||||
function agnos_init {
|
||||
# wait longer for weston to come up
|
||||
if [ -f "$BASEDIR/prebuilt" ]; then
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# TODO: move this to agnos
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
|
||||
|
||||
+1
-1
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="7.1"
|
||||
export AGNOS_VERSION="8.2"
|
||||
fi
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
|
||||
+4
-4
@@ -34,13 +34,13 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
|
||||
RUN pyenv install 3.8.10
|
||||
RUN pyenv global 3.8.10
|
||||
RUN pyenv install 3.11.4
|
||||
RUN pyenv global 3.11.4
|
||||
RUN pyenv rehash
|
||||
|
||||
COPY requirements.txt /tmp/
|
||||
RUN pip install --no-cache-dir -r /tmp/requirements.txt
|
||||
RUN pip install --no-cache-dir pre-commit==2.15.0 pylint==2.5.2
|
||||
RUN pip install --no-cache-dir pre-commit==2.15.0 pylint==2.17.4
|
||||
|
||||
ENV PYTHONPATH=/project
|
||||
|
||||
@@ -49,7 +49,7 @@ RUN git config --global --add safe.directory '*'
|
||||
WORKDIR /project
|
||||
RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
|
||||
cd /project/cereal && \
|
||||
git checkout 959ff79963b80829be9902d146c31fda44dbbd20 && \
|
||||
git checkout aed9fd278a704816aba11f4473aafefc281ed2bc && \
|
||||
rm -rf .git && \
|
||||
scons -j$(nproc)
|
||||
|
||||
|
||||
@@ -3,10 +3,8 @@
|
||||
|
||||
from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
from libcpp.map cimport map
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.unordered_set cimport unordered_set
|
||||
|
||||
|
||||
ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &)
|
||||
@@ -54,7 +52,6 @@ cdef extern from "common_dbc.h":
|
||||
uint32_t address
|
||||
string name
|
||||
|
||||
|
||||
cdef struct MessageParseOptions:
|
||||
uint32_t address
|
||||
int check_frequency
|
||||
@@ -72,7 +69,7 @@ cdef extern from "common_dbc.h":
|
||||
|
||||
|
||||
cdef extern from "common.h":
|
||||
cdef const DBC* dbc_lookup(const string);
|
||||
cdef const DBC* dbc_lookup(const string)
|
||||
|
||||
cdef cppclass CANParser:
|
||||
bool can_valid
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -32,7 +32,7 @@ if __name__ == "__main__":
|
||||
chrysler_path = os.path.dirname(os.path.realpath(__file__))
|
||||
|
||||
for out, addr_lookup in chrysler_to_ram.items():
|
||||
with open(os.path.join(chrysler_path, src)) as in_f, open(os.path.join(chrysler_path, out), 'w') as out_f:
|
||||
with open(os.path.join(chrysler_path, src), encoding='utf-8') as in_f, open(os.path.join(chrysler_path, out), 'w', encoding='utf-8') as out_f:
|
||||
out_f.write(f'CM_ "Generated from {src}"\n\n')
|
||||
|
||||
wrote_addrs = set()
|
||||
|
||||
@@ -11,7 +11,7 @@ generated_suffix = '_generated.dbc'
|
||||
|
||||
|
||||
def read_dbc(src_dir: str, filename: str) -> str:
|
||||
with open(os.path.join(src_dir, filename)) as file_in:
|
||||
with open(os.path.join(src_dir, filename), encoding='utf-8') as file_in:
|
||||
return file_in.read()
|
||||
|
||||
|
||||
@@ -23,7 +23,7 @@ def create_dbc(src_dir: str, filename: str, output_path: str):
|
||||
output_filename = filename.replace('.dbc', generated_suffix)
|
||||
output_file_location = os.path.join(output_path, output_filename)
|
||||
|
||||
with open(output_file_location, 'w') as dbc_file_out:
|
||||
with open(output_file_location, 'w', encoding='utf-8') as dbc_file_out:
|
||||
dbc_file_out.write('CM_ "AUTOGENERATED FILE, DO NOT EDIT";\n')
|
||||
|
||||
for include_filename in includes:
|
||||
|
||||
@@ -5,7 +5,7 @@ import os
|
||||
if __name__ == "__main__":
|
||||
dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
|
||||
hyundai_path = os.path.dirname(os.path.realpath(__file__))
|
||||
with open(os.path.join(hyundai_path, dbc_name), "w") as f:
|
||||
with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f:
|
||||
f.write("""
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ import os
|
||||
if __name__ == "__main__":
|
||||
dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
|
||||
hyundai_path = os.path.dirname(os.path.realpath(__file__))
|
||||
with open(os.path.join(hyundai_path, dbc_name), "w") as f:
|
||||
with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f:
|
||||
f.write("""
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -83,10 +83,14 @@ BO_ 314 Wheel_Speeds: 8 XXX
|
||||
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 280 STOP_START: 8 XXX
|
||||
BO_ 280 Steering_Torque_2: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX
|
||||
SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX
|
||||
SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -98,6 +102,11 @@ BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
|
||||
|
||||
BO_ 282 Steering_2: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -127,12 +136,19 @@ BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
|
||||
SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 292 ES_LKAS_ANGLE: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Output : 40|17@1- (-0.01,0) [0|1] "deg" XXX
|
||||
SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 544 ES_Brake: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -240,6 +256,9 @@ BO_ 1677 Dash_State: 8 XXX
|
||||
CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
|
||||
CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
|
||||
CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
|
||||
CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB";
|
||||
CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4";
|
||||
CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why";
|
||||
CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
|
||||
CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
|
||||
@@ -256,3 +275,4 @@ CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active";
|
||||
CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
|
||||
CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial";
|
||||
CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
|
||||
VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation";
|
||||
|
||||
@@ -53,7 +53,7 @@ BO_ 576 CruiseControl: 8 XXX
|
||||
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
|
||||
|
||||
BO_ 803 INFOTAINMENT_STATUS: 8 XXX
|
||||
BO_ 803 ES_Infotainment: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -38,7 +38,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
@@ -75,8 +75,9 @@ BO_ 452 ENGINE_RPM: 8 CGW
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX
|
||||
SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX
|
||||
SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -217,8 +218,13 @@ BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 DSU
|
||||
@@ -235,7 +241,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
|
||||
SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -259,6 +265,11 @@ BO_ 1043 TIME : 8 CGW
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
|
||||
SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
|
||||
SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1083 AUTOPARK_STATUS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -372,6 +383,8 @@ CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
|
||||
CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
@@ -404,13 +417,18 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual";
|
||||
CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor";
|
||||
CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature";
|
||||
CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual";
|
||||
CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM";
|
||||
CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
|
||||
CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0";
|
||||
CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
|
||||
CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
|
||||
CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
|
||||
CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
|
||||
CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
|
||||
CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
|
||||
@@ -474,7 +492,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
|
||||
VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on";
|
||||
VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
|
||||
VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
|
||||
VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
|
||||
VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
|
||||
VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
|
||||
VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
|
||||
|
||||
@@ -10,7 +10,7 @@ BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -27,6 +27,16 @@ BO_ 610 EPS_STATUS: 8 EPS
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 881 LTA_RELATED: 8 FCM
|
||||
SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX
|
||||
SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -39,13 +49,22 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri
|
||||
CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
|
||||
CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
|
||||
CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
|
||||
CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
|
||||
CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel";
|
||||
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
|
||||
CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist";
|
||||
CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)";
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far";
|
||||
CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE";
|
||||
CM_ SG_ 881 TURN_SIGNALS "flipped on some cars";
|
||||
CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars";
|
||||
CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST";
|
||||
CM_ SG_ 881 UNKNOWN "related to steering wheel angle";
|
||||
CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal";
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
@@ -53,6 +72,7 @@ CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
|
||||
VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
|
||||
|
||||
@@ -698,6 +698,7 @@ BO_ 1365 FPCM11: 8 FPCM
|
||||
|
||||
BO_ 871 LVR12: 8 LVR
|
||||
SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU
|
||||
SG_ CF_Lvr_IsgState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,TCU
|
||||
SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU
|
||||
|
||||
BO_ 872 LVR11: 8 LVR
|
||||
@@ -1639,11 +1640,15 @@ BO_ 1042 ICM_412h: 8 ICM
|
||||
|
||||
BO_ 1348 Navi_HU: 8 XXX
|
||||
SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SpeedLim_Nav_General : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SpeedLim_Nav_Cam : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
|
||||
CM_ SG_ 871 CF_Lvr_IsgState "Idle Stop and Go";
|
||||
CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";
|
||||
|
||||
VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
|
||||
VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled";
|
||||
VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
|
||||
|
||||
@@ -705,13 +705,13 @@ BO_ 1143 BSM: 8 XXX
|
||||
SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BS1 : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BS_STATUS : 13|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_BS_STATUS : 15|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX
|
||||
SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
|
||||
SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX
|
||||
@@ -788,3 +788,5 @@ CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
|
||||
VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
|
||||
VAL_ 540 RADAR_HAS_LEAD 0 "NO LEAD" 1 "HAS LEAD" ;
|
||||
VAL_ 540 RADAR_LEAD_RELATIVE_DISTANCE 0 "NO LEAD" 1 "FARTHEST" 2 "4" 3 "3" 4 "2" 5 "NEAREST" ;
|
||||
VAL_ 1143 LEFT_BS_STATUS 0 "No object detected" 1 "Object detected in left blindspot" 2 "Object detected in left blindspot with blinker - warning"
|
||||
VAL_ 1143 RIGHT_BS_STATUS 0 "No object detected" 1 "Object detected in right blindspot" 2 "Object detected in right blindspot with blinker - warning"
|
||||
|
||||
@@ -0,0 +1,77 @@
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: PowertrainControlModule InstrumentCluster ElectricPowerSteering AntilockBrakeSystem
|
||||
|
||||
|
||||
BO_ 129 steering: 8 ElectricPowerSteering
|
||||
SG_ SteeringAngle : 23|16@0- (1,0) [0|0] "deg" Vector__XXX
|
||||
|
||||
BO_ 513 speed: 8 PowertrainControlModule
|
||||
SG_ EngineRPM : 7|16@0+ (0.25,0) [0|0] "rpm" Vector__XXX
|
||||
SG_ VehicleSpeed : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
|
||||
SG_ AcceleratorPos : 55|8@0+ (0.5,0) [0|0] "%" Vector__XXX
|
||||
|
||||
BO_ 592 throttle_body: 8 PowertrainControlModule
|
||||
SG_ IntakeAirTemperature : 31|8@0+ (1,-40) [0|0] "Cel" Vector__XXX
|
||||
SG_ AcceleratorPedalSensorRaw : 23|8@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ AcceleratorPedalSensorFiltered : 55|8@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 658 brake_controls: 8 PowertrainControlModule
|
||||
SG_ BrakePedalSwitch : 43|1@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ParkingBrakeSwitch : 38|1@1+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1056 coolant: 8 PowertrainControlModule
|
||||
SG_ CoolantTemperature : 7|8@0+ (1,-40) [0|0] "Cel" Vector__XXX
|
||||
|
||||
BO_ 1072 instrument_cluster: 8 InstrumentCluster
|
||||
SG_ FuelLevel : 7|8@0+ (0.392156,0) [0|0] "%" Vector__XXX
|
||||
SG_ FuelTankSensorLeft : 15|8@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ FuelTankSensorRight : 23|8@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1200 wheel_speed: 8 AntilockBrakeSystem
|
||||
SG_ WheelSpeedFL : 7|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
|
||||
SG_ WheelSpeedFR : 23|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
|
||||
SG_ WheelSpeedRL : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
|
||||
SG_ WheelSpeedRR : 55|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
|
||||
|
||||
CM_ SG_ 129 SteeringAngle "Steering wheel angle: positive is right and negative is left";
|
||||
CM_ SG_ 513 AcceleratorPos "processed interpretation of AcceleratorPedalSensor values";
|
||||
CM_ SG_ 1072 FuelTankSensorLeft "lower sensor values indicate a more full tank";
|
||||
CM_ SG_ 1072 FuelTankSensorRight "lower sensor values indicate a more full tank";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
[tool.poetry]
|
||||
name = "opendbc"
|
||||
version = "1.0.0"
|
||||
description = "CAN bus databases and tools"
|
||||
license = "MIT"
|
||||
authors = ["Vehicle Researcher <user@comma.ai>"]
|
||||
readme = "README.md"
|
||||
repository = "https://github.com/commaai/opendbc"
|
||||
|
||||
[tool.cython-lint]
|
||||
max-line-length = 120
|
||||
ignore = ["E111", "E114"]
|
||||
@@ -1,8 +1,8 @@
|
||||
Cython==0.29.34
|
||||
flake8==6.0.0
|
||||
Jinja2==3.1.2
|
||||
numpy==1.24.2
|
||||
pycapnp==1.3.0
|
||||
pylint==2.17.2
|
||||
pyyaml==6.0
|
||||
Cython
|
||||
flake8
|
||||
Jinja2
|
||||
numpy
|
||||
pycapnp
|
||||
pylint==2.17.4
|
||||
pyyaml
|
||||
scons
|
||||
|
||||
@@ -87,10 +87,14 @@ BO_ 314 Wheel_Speeds: 8 XXX
|
||||
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 280 STOP_START: 8 XXX
|
||||
BO_ 280 Steering_Torque_2: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX
|
||||
SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX
|
||||
SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -102,6 +106,11 @@ BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
|
||||
|
||||
BO_ 282 Steering_2: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -131,12 +140,19 @@ BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
|
||||
SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 292 ES_LKAS_ANGLE: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Output : 40|17@1- (-0.01,0) [0|1] "deg" XXX
|
||||
SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 544 ES_Brake: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -244,6 +260,9 @@ BO_ 1677 Dash_State: 8 XXX
|
||||
CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
|
||||
CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
|
||||
CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
|
||||
CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB";
|
||||
CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4";
|
||||
CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why";
|
||||
CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
|
||||
CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
|
||||
@@ -260,6 +279,7 @@ CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active";
|
||||
CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
|
||||
CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial";
|
||||
CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
|
||||
VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation";
|
||||
|
||||
CM_ "subaru_global_2017.dbc starts here";
|
||||
|
||||
@@ -316,7 +336,7 @@ BO_ 576 CruiseControl: 8 XXX
|
||||
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
|
||||
|
||||
BO_ 803 INFOTAINMENT_STATUS: 8 XXX
|
||||
BO_ 803 ES_Infotainment: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -87,10 +87,14 @@ BO_ 314 Wheel_Speeds: 8 XXX
|
||||
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 280 STOP_START: 8 XXX
|
||||
BO_ 280 Steering_Torque_2: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX
|
||||
SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX
|
||||
SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -102,6 +106,11 @@ BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
|
||||
|
||||
BO_ 282 Steering_2: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -131,12 +140,19 @@ BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
|
||||
SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 292 ES_LKAS_ANGLE: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Output : 40|17@1- (-0.01,0) [0|1] "deg" XXX
|
||||
SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 544 ES_Brake: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -244,6 +260,9 @@ BO_ 1677 Dash_State: 8 XXX
|
||||
CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
|
||||
CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
|
||||
CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
|
||||
CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB";
|
||||
CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4";
|
||||
CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why";
|
||||
CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
|
||||
CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
|
||||
@@ -260,6 +279,7 @@ CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active";
|
||||
CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
|
||||
CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial";
|
||||
CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
|
||||
VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation";
|
||||
|
||||
CM_ "subaru_global_2020_hybrid.dbc starts here";
|
||||
|
||||
|
||||
@@ -88,7 +88,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
@@ -125,8 +125,9 @@ BO_ 452 ENGINE_RPM: 8 CGW
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX
|
||||
SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX
|
||||
SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -267,8 +268,13 @@ BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 DSU
|
||||
@@ -285,7 +291,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
|
||||
SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -309,6 +315,11 @@ BO_ 1043 TIME : 8 CGW
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
|
||||
SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
|
||||
SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1083 AUTOPARK_STATUS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -422,6 +433,8 @@ CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
|
||||
CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
@@ -454,13 +467,18 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual";
|
||||
CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor";
|
||||
CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature";
|
||||
CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual";
|
||||
CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM";
|
||||
CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
|
||||
CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0";
|
||||
CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
|
||||
CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
|
||||
CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
|
||||
CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
|
||||
CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
|
||||
CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
|
||||
@@ -524,7 +542,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
|
||||
VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on";
|
||||
VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
|
||||
VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
|
||||
VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
|
||||
VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
|
||||
VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
|
||||
VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
|
||||
|
||||
@@ -89,7 +89,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
@@ -126,8 +126,9 @@ BO_ 452 ENGINE_RPM: 8 CGW
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX
|
||||
SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX
|
||||
SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -269,8 +270,13 @@ BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 DSU
|
||||
@@ -287,7 +293,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
|
||||
SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -311,6 +317,11 @@ BO_ 1043 TIME : 8 CGW
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
|
||||
SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
|
||||
SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1083 AUTOPARK_STATUS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -424,6 +435,8 @@ CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
|
||||
CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
@@ -456,13 +469,18 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual";
|
||||
CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor";
|
||||
CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature";
|
||||
CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual";
|
||||
CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM";
|
||||
CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
|
||||
CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0";
|
||||
CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
|
||||
CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
|
||||
CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
|
||||
CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
|
||||
CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
|
||||
CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
|
||||
@@ -527,7 +545,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
|
||||
VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on";
|
||||
VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
|
||||
VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
|
||||
VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
|
||||
VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
|
||||
VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
|
||||
VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
|
||||
@@ -555,7 +573,7 @@ BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -572,6 +590,16 @@ BO_ 610 EPS_STATUS: 8 EPS
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 881 LTA_RELATED: 8 FCM
|
||||
SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX
|
||||
SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -584,13 +612,22 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri
|
||||
CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
|
||||
CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
|
||||
CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
|
||||
CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
|
||||
CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel";
|
||||
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
|
||||
CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist";
|
||||
CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)";
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far";
|
||||
CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE";
|
||||
CM_ SG_ 881 TURN_SIGNALS "flipped on some cars";
|
||||
CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars";
|
||||
CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST";
|
||||
CM_ SG_ 881 UNKNOWN "related to steering wheel angle";
|
||||
CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal";
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
@@ -598,6 +635,7 @@ CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
|
||||
VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
|
||||
|
||||
@@ -88,7 +88,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
@@ -125,8 +125,9 @@ BO_ 452 ENGINE_RPM: 8 CGW
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX
|
||||
SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX
|
||||
SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -267,8 +268,13 @@ BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 DSU
|
||||
@@ -285,7 +291,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
|
||||
SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -309,6 +315,11 @@ BO_ 1043 TIME : 8 CGW
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
|
||||
SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
|
||||
SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1083 AUTOPARK_STATUS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -422,6 +433,8 @@ CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
|
||||
CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
@@ -454,13 +467,18 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual";
|
||||
CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor";
|
||||
CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature";
|
||||
CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual";
|
||||
CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM";
|
||||
CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
|
||||
CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0";
|
||||
CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
|
||||
CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
|
||||
CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
|
||||
CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
|
||||
CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
|
||||
CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
|
||||
@@ -524,7 +542,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
|
||||
VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on";
|
||||
VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
|
||||
VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
|
||||
VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
|
||||
VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
|
||||
VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
|
||||
VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
*.tmp
|
||||
*.pyc
|
||||
.*.swp
|
||||
.*.swo
|
||||
|
||||
+4
-3
@@ -1,5 +1,6 @@
|
||||
from .python.constants import McuType, BASEDIR, FW_PATH # noqa: F401
|
||||
from .python.constants import McuType, BASEDIR, FW_PATH, USBPACKET_MAX_SIZE # noqa: F401
|
||||
from .python.spi import PandaSpiException, PandaProtocolMismatch # noqa: F401
|
||||
from .python.serial import PandaSerial # noqa: F401
|
||||
from .python import (Panda, PandaDFU, # noqa: F401
|
||||
pack_can_buffer, unpack_can_buffer, calculate_checksum,
|
||||
DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE, CANPACKET_HEAD_SIZE)
|
||||
pack_can_buffer, unpack_can_buffer, calculate_checksum, unpack_log,
|
||||
DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -1,8 +1,10 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
from typing import List, Optional
|
||||
from tqdm import tqdm
|
||||
from panda import Panda
|
||||
from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE, DATA_IDENTIFIER_TYPE
|
||||
from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \
|
||||
SESSION_TYPE, DATA_IDENTIFIER_TYPE
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser()
|
||||
@@ -11,6 +13,7 @@ if __name__ == "__main__":
|
||||
parser.add_argument("--no-obd", action="store_true", help="Bus 1 will not be multiplexed to the OBD-II port")
|
||||
parser.add_argument("--debug", action="store_true")
|
||||
parser.add_argument("--addr")
|
||||
parser.add_argument("--sub_addr", "--subaddr", help="A hex sub-address or `scan` to scan the full sub-address range")
|
||||
parser.add_argument("--bus")
|
||||
parser.add_argument('-s', '--serial', help="Serial number of panda to use")
|
||||
args = parser.parse_args()
|
||||
@@ -22,6 +25,17 @@ if __name__ == "__main__":
|
||||
addrs += [0x18da0000 + (i << 8) + 0xf1 for i in range(256)]
|
||||
results = {}
|
||||
|
||||
sub_addrs: List[Optional[int]] = [None]
|
||||
if args.sub_addr:
|
||||
if args.sub_addr == "scan":
|
||||
sub_addrs = list(range(0xff + 1))
|
||||
else:
|
||||
sub_addrs = [int(args.sub_addr, base=16)]
|
||||
if sub_addrs[0] > 0xff: # type: ignore
|
||||
print(f"Invalid sub-address: 0x{sub_addrs[0]:X}, needs to be in range 0x0 to 0xff")
|
||||
parser.print_help()
|
||||
exit()
|
||||
|
||||
uds_data_ids = {}
|
||||
for std_id in DATA_IDENTIFIER_TYPE:
|
||||
uds_data_ids[std_id.value] = std_id.name
|
||||
@@ -51,42 +65,50 @@ if __name__ == "__main__":
|
||||
# skip functional broadcast addrs
|
||||
if addr == 0x7df or addr == 0x18db33f1:
|
||||
continue
|
||||
t.set_description(hex(addr))
|
||||
|
||||
if args.bus:
|
||||
bus = int(args.bus)
|
||||
else:
|
||||
bus = 1 if panda.has_obd() else 0
|
||||
rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None
|
||||
uds_client = UdsClient(panda, addr, rx_addr, bus, timeout=0.2, debug=args.debug)
|
||||
# Check for anything alive at this address, and switch to the highest
|
||||
# available diagnostic session without security access
|
||||
try:
|
||||
uds_client.tester_present()
|
||||
uds_client.diagnostic_session_control(SESSION_TYPE.DEFAULT)
|
||||
uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
|
||||
except NegativeResponseError:
|
||||
pass
|
||||
except MessageTimeoutError:
|
||||
continue
|
||||
|
||||
# Run queries against all standard UDS data identifiers, plus selected
|
||||
# non-standardized identifier ranges if requested
|
||||
resp = {}
|
||||
for uds_data_id in sorted(uds_data_ids):
|
||||
# Try all sub-addresses for addr. By default, this is None
|
||||
for sub_addr in sub_addrs:
|
||||
sub_addr_str = hex(sub_addr) if sub_addr is not None else None
|
||||
t.set_description(f"{hex(addr)}, {sub_addr_str}")
|
||||
uds_client = UdsClient(panda, addr, rx_addr, bus, sub_addr=sub_addr, timeout=0.2, debug=args.debug)
|
||||
# Check for anything alive at this address, and switch to the highest
|
||||
# available diagnostic session without security access
|
||||
try:
|
||||
data = uds_client.read_data_by_identifier(uds_data_id) # type: ignore
|
||||
if data:
|
||||
resp[uds_data_id] = data
|
||||
except (NegativeResponseError, MessageTimeoutError):
|
||||
uds_client.tester_present()
|
||||
uds_client.diagnostic_session_control(SESSION_TYPE.DEFAULT)
|
||||
uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
|
||||
except NegativeResponseError:
|
||||
pass
|
||||
except MessageTimeoutError:
|
||||
continue
|
||||
except InvalidSubAddressError as e:
|
||||
print(f'*** Skipping address {hex(addr)}: {e}')
|
||||
break
|
||||
|
||||
if resp.keys():
|
||||
results[addr] = resp
|
||||
# Run queries against all standard UDS data identifiers, plus selected
|
||||
# non-standardized identifier ranges if requested
|
||||
resp = {}
|
||||
for uds_data_id in sorted(uds_data_ids):
|
||||
try:
|
||||
data = uds_client.read_data_by_identifier(uds_data_id) # type: ignore
|
||||
if data:
|
||||
resp[uds_data_id] = data
|
||||
except (NegativeResponseError, MessageTimeoutError, InvalidSubAddressError):
|
||||
pass
|
||||
|
||||
if resp.keys():
|
||||
results[(addr, sub_addr)] = resp
|
||||
|
||||
if len(results.items()):
|
||||
for addr, resp in results.items():
|
||||
print(f"\n\n*** Results for address 0x{addr:X} ***\n\n")
|
||||
for (addr, sub_addr), resp in results.items():
|
||||
sub_addr_str = f", sub-address 0x{sub_addr:X}" if sub_addr is not None else ""
|
||||
print(f"\n\n*** Results for address 0x{addr:X}{sub_addr_str} ***\n\n")
|
||||
for rid, dat in resp.items():
|
||||
print(f"0x{rid:02X} {uds_data_ids[rid]}: {dat}")
|
||||
else:
|
||||
|
||||
+122
-51
@@ -17,7 +17,7 @@ from .base import BaseHandle
|
||||
from .constants import FW_PATH, McuType
|
||||
from .dfu import PandaDFU
|
||||
from .isotp import isotp_send, isotp_recv
|
||||
from .spi import PandaSpiHandle, PandaSpiException
|
||||
from .spi import PandaSpiHandle, PandaSpiException, PandaProtocolMismatch
|
||||
from .usb import PandaUsbHandle
|
||||
|
||||
__version__ = '0.0.10'
|
||||
@@ -26,7 +26,6 @@ __version__ = '0.0.10'
|
||||
LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
|
||||
logging.basicConfig(level=LOGLEVEL, format='%(message)s')
|
||||
|
||||
USBPACKET_MAX_SIZE = 0x40
|
||||
CANPACKET_HEAD_SIZE = 0x6
|
||||
DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
|
||||
LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
|
||||
@@ -122,6 +121,24 @@ def ensure_can_health_packet_version(fn):
|
||||
return fn(self, *args, **kwargs)
|
||||
return wrapper
|
||||
|
||||
def parse_timestamp(dat):
|
||||
a = struct.unpack("HBBBBBB", dat)
|
||||
if a[0] == 0:
|
||||
return None
|
||||
|
||||
try:
|
||||
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
|
||||
except ValueError:
|
||||
return None
|
||||
|
||||
def unpack_log(dat):
|
||||
return {
|
||||
'id': struct.unpack("H", dat[:2])[0],
|
||||
'timestamp': parse_timestamp(dat[2:10]),
|
||||
'uptime': struct.unpack("I", dat[10:14])[0],
|
||||
'msg': bytes(dat[14:]).decode('utf-8', 'ignore').strip('\x00'),
|
||||
}
|
||||
|
||||
class ALTERNATIVE_EXPERIENCE:
|
||||
DEFAULT = 0
|
||||
DISABLE_DISENGAGE_ON_GAS = 1
|
||||
@@ -184,12 +201,12 @@ class Panda:
|
||||
|
||||
CAN_PACKET_VERSION = 4
|
||||
HEALTH_PACKET_VERSION = 14
|
||||
CAN_HEALTH_PACKET_VERSION = 4
|
||||
# dp - 2 extra "B" at the end:
|
||||
CAN_HEALTH_PACKET_VERSION = 5
|
||||
#dp - 2 extra "B" at the end:
|
||||
# "usb_power_mode": a[23],
|
||||
# "torque_interceptor_detected": a[24],
|
||||
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHBHHBB")
|
||||
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBB")
|
||||
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
|
||||
|
||||
F2_DEVICES = (HW_TYPE_PEDAL, )
|
||||
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
|
||||
@@ -240,6 +257,7 @@ class Panda:
|
||||
FLAG_GM_HW_CAM_LONG = 2
|
||||
|
||||
FLAG_FORD_LONG_CONTROL = 1
|
||||
FLAG_FORD_CANFD = 2
|
||||
|
||||
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
|
||||
self._connect_serial = serial
|
||||
@@ -269,10 +287,14 @@ class Panda:
|
||||
def connect(self, claim=True, wait=False):
|
||||
self.close()
|
||||
|
||||
# try USB first, then SPI
|
||||
self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim, wait=wait)
|
||||
if self._handle is None:
|
||||
self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
|
||||
self._handle = None
|
||||
while self._handle is None:
|
||||
# try USB first, then SPI
|
||||
self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim)
|
||||
if self._handle is None:
|
||||
self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
|
||||
if not wait:
|
||||
break
|
||||
|
||||
if self._handle is None:
|
||||
raise Exception("failed to connect to panda")
|
||||
@@ -307,16 +329,30 @@ class Panda:
|
||||
self.set_power_save(0)
|
||||
|
||||
@staticmethod
|
||||
def spi_connect(serial):
|
||||
def spi_connect(serial, ignore_version=False):
|
||||
# get UID to confirm slave is present and up
|
||||
handle = None
|
||||
spi_serial = None
|
||||
bootstub = None
|
||||
spi_version = None
|
||||
try:
|
||||
handle = PandaSpiHandle()
|
||||
dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12, timeout=100)
|
||||
spi_serial = binascii.hexlify(dat).decode()
|
||||
bootstub = Panda.flasher_present(handle)
|
||||
|
||||
# connect by protcol version
|
||||
try:
|
||||
dat = handle.get_protocol_version()
|
||||
spi_serial = binascii.hexlify(dat[:12]).decode()
|
||||
pid = dat[13]
|
||||
if pid not in (0xcc, 0xee):
|
||||
raise PandaSpiException("invalid bootstub status")
|
||||
bootstub = pid == 0xee
|
||||
spi_version = dat[14]
|
||||
except PandaSpiException:
|
||||
# fallback, we'll raise a protocol mismatch below
|
||||
dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12, timeout=100)
|
||||
spi_serial = binascii.hexlify(dat).decode()
|
||||
bootstub = Panda.flasher_present(handle)
|
||||
spi_version = 0
|
||||
except PandaSpiException:
|
||||
pass
|
||||
|
||||
@@ -326,49 +362,53 @@ class Panda:
|
||||
spi_serial = None
|
||||
bootstub = False
|
||||
|
||||
# ensure our protocol version matches the panda
|
||||
if handle is not None and not ignore_version:
|
||||
if spi_version != handle.PROTOCOL_VERSION:
|
||||
err = f"panda protocol mismatch: expected {handle.PROTOCOL_VERSION}, got {spi_version}. reflash panda"
|
||||
raise PandaProtocolMismatch(err)
|
||||
|
||||
return handle, spi_serial, bootstub, None
|
||||
|
||||
@staticmethod
|
||||
def usb_connect(serial, claim=True, wait=False):
|
||||
def usb_connect(serial, claim=True):
|
||||
handle, usb_serial, bootstub, bcd = None, None, None, None
|
||||
while 1:
|
||||
context = usb1.USBContext()
|
||||
context.open()
|
||||
try:
|
||||
for device in context.getDeviceList(skip_on_error=True):
|
||||
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
|
||||
try:
|
||||
this_serial = device.getSerialNumber()
|
||||
except Exception:
|
||||
continue
|
||||
context = usb1.USBContext()
|
||||
context.open()
|
||||
try:
|
||||
for device in context.getDeviceList(skip_on_error=True):
|
||||
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
|
||||
try:
|
||||
this_serial = device.getSerialNumber()
|
||||
except Exception:
|
||||
continue
|
||||
|
||||
if serial is None or this_serial == serial:
|
||||
logging.debug("opening device %s %s", this_serial, hex(device.getProductID()))
|
||||
if serial is None or this_serial == serial:
|
||||
logging.debug("opening device %s %s", this_serial, hex(device.getProductID()))
|
||||
|
||||
usb_serial = this_serial
|
||||
bootstub = device.getProductID() == 0xddee
|
||||
handle = device.open()
|
||||
if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
|
||||
handle.setAutoDetachKernelDriver(True)
|
||||
if claim:
|
||||
handle.claimInterface(0)
|
||||
# handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
|
||||
usb_serial = this_serial
|
||||
bootstub = device.getProductID() == 0xddee
|
||||
handle = device.open()
|
||||
if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
|
||||
handle.setAutoDetachKernelDriver(True)
|
||||
if claim:
|
||||
handle.claimInterface(0)
|
||||
# handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
|
||||
|
||||
# bcdDevice wasn't always set to the hw type, ignore if it's the old constant
|
||||
this_bcd = device.getbcdDevice()
|
||||
if this_bcd is not None and this_bcd != 0x2300:
|
||||
bcd = bytearray([this_bcd >> 8, ])
|
||||
# bcdDevice wasn't always set to the hw type, ignore if it's the old constant
|
||||
this_bcd = device.getbcdDevice()
|
||||
if this_bcd is not None and this_bcd != 0x2300:
|
||||
bcd = bytearray([this_bcd >> 8, ])
|
||||
|
||||
break
|
||||
except Exception:
|
||||
logging.exception("USB connect error")
|
||||
if not wait or handle is not None:
|
||||
break
|
||||
context.close()
|
||||
break
|
||||
except Exception:
|
||||
logging.exception("USB connect error")
|
||||
|
||||
usb_handle = None
|
||||
if handle is not None:
|
||||
usb_handle = PandaUsbHandle(handle)
|
||||
else:
|
||||
context.close()
|
||||
|
||||
return usb_handle, usb_serial, bootstub, bcd
|
||||
|
||||
@@ -399,7 +439,7 @@ class Panda:
|
||||
|
||||
@staticmethod
|
||||
def spi_list():
|
||||
_, serial, _, _ = Panda.spi_connect(None)
|
||||
_, serial, _, _ = Panda.spi_connect(None, ignore_version=True)
|
||||
if serial is not None:
|
||||
return [serial, ]
|
||||
return []
|
||||
@@ -409,12 +449,12 @@ class Panda:
|
||||
timeout = 5000 if isinstance(self._handle, PandaSpiHandle) else 15000
|
||||
try:
|
||||
if enter_bootloader:
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'', timeout=timeout)
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'', timeout=timeout, expect_disconnect=True)
|
||||
else:
|
||||
if enter_bootstub:
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=timeout)
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=timeout, expect_disconnect=True)
|
||||
else:
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout)
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout, expect_disconnect=True)
|
||||
except Exception:
|
||||
pass
|
||||
if not enter_bootloader and reconnect:
|
||||
@@ -483,7 +523,7 @@ class Panda:
|
||||
# reset
|
||||
logging.warning("flash: resetting")
|
||||
try:
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
@@ -540,6 +580,18 @@ class Panda:
|
||||
dfu_list = PandaDFU.list()
|
||||
return True
|
||||
|
||||
@staticmethod
|
||||
def wait_for_panda(serial: Optional[str], timeout: int) -> bool:
|
||||
t_start = time.monotonic()
|
||||
serials = Panda.list()
|
||||
while (serial is None and len(serials) == 0) or (serial is not None and serial not in serials):
|
||||
logging.debug("waiting for panda...")
|
||||
time.sleep(0.1)
|
||||
if timeout is not None and (time.monotonic() - t_start) > timeout:
|
||||
return False
|
||||
serials = Panda.list()
|
||||
return True
|
||||
|
||||
def up_to_date(self) -> bool:
|
||||
current = self.get_signature()
|
||||
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
|
||||
@@ -624,6 +676,10 @@ class Panda:
|
||||
"canfd_enabled": a[19],
|
||||
"brs_enabled": a[20],
|
||||
"canfd_non_iso": a[21],
|
||||
"irq0_call_rate": a[22],
|
||||
"irq1_call_rate": a[23],
|
||||
"irq2_call_rate": a[24],
|
||||
"can_core_reset_count": a[25],
|
||||
}
|
||||
|
||||
# ******************* control *******************
|
||||
@@ -710,6 +766,10 @@ class Panda:
|
||||
def get_secret(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
|
||||
|
||||
def get_interrupt_call_rate(self, irqnum):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc4, int(irqnum), 0, 4)
|
||||
return struct.unpack("I", dat)[0]
|
||||
|
||||
# ******************* configuration *******************
|
||||
|
||||
def set_power_save(self, power_save_enabled=0):
|
||||
@@ -933,8 +993,7 @@ class Panda:
|
||||
|
||||
def get_datetime(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa0, 0, 0, 8)
|
||||
a = struct.unpack("HBBBBBB", dat)
|
||||
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
|
||||
return parse_timestamp(dat)
|
||||
|
||||
# ****************** Timer *****************
|
||||
def get_microsecond_timer(self):
|
||||
@@ -965,3 +1024,15 @@ class Panda:
|
||||
# ****************** Debug *****************
|
||||
def set_green_led(self, enabled):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
|
||||
|
||||
# ****************** Logging *****************
|
||||
def get_logs(self, last_id=None, get_all=False):
|
||||
assert (last_id is None) or (0 <= last_id < 0xFFFF)
|
||||
|
||||
logs = []
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfd, 1 if get_all else 0, last_id if last_id is not None else 0xFFFF, 0x40)
|
||||
while len(dat) > 0:
|
||||
if len(dat) == 0x40:
|
||||
logs.append(unpack_log(dat))
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfd, 0, 0xFFFF, 0x40)
|
||||
return logs
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
from abc import ABC, abstractmethod
|
||||
from typing import List
|
||||
|
||||
from .constants import McuType
|
||||
|
||||
@@ -24,7 +23,7 @@ class BaseHandle(ABC):
|
||||
...
|
||||
|
||||
@abstractmethod
|
||||
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
|
||||
def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
|
||||
...
|
||||
|
||||
@abstractmethod
|
||||
|
||||
@@ -5,6 +5,8 @@ from typing import List, NamedTuple
|
||||
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
|
||||
FW_PATH = os.path.join(BASEDIR, "board/obj/")
|
||||
|
||||
USBPACKET_MAX_SIZE = 0x40
|
||||
|
||||
class McuConfig(NamedTuple):
|
||||
mcu: str
|
||||
mcu_idcode: int
|
||||
|
||||
+157
-60
@@ -1,4 +1,5 @@
|
||||
import binascii
|
||||
import ctypes
|
||||
import os
|
||||
import fcntl
|
||||
import math
|
||||
@@ -8,15 +9,18 @@ import logging
|
||||
import threading
|
||||
from contextlib import contextmanager
|
||||
from functools import reduce
|
||||
from typing import List, Optional
|
||||
from typing import Callable, List, Optional
|
||||
|
||||
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
|
||||
from .constants import McuType, MCU_TYPE_BY_IDCODE
|
||||
from .constants import McuType, MCU_TYPE_BY_IDCODE, USBPACKET_MAX_SIZE
|
||||
from .utils import crc8_pedal
|
||||
|
||||
try:
|
||||
import spidev
|
||||
import spidev2
|
||||
except ImportError:
|
||||
spidev = None
|
||||
spidev2 = None
|
||||
|
||||
# Constants
|
||||
SYNC = 0x5A
|
||||
@@ -28,7 +32,7 @@ CHECKSUM_START = 0xAB
|
||||
MIN_ACK_TIMEOUT_MS = 100
|
||||
MAX_XFER_RETRY_COUNT = 5
|
||||
|
||||
XFER_SIZE = 1000
|
||||
XFER_SIZE = 0x40*31
|
||||
|
||||
DEV_PATH = "/dev/spidev0.0"
|
||||
|
||||
@@ -36,6 +40,9 @@ DEV_PATH = "/dev/spidev0.0"
|
||||
class PandaSpiException(Exception):
|
||||
pass
|
||||
|
||||
class PandaProtocolMismatch(PandaSpiException):
|
||||
pass
|
||||
|
||||
class PandaSpiUnavailable(PandaSpiException):
|
||||
pass
|
||||
|
||||
@@ -54,6 +61,17 @@ class PandaSpiTransferFailed(PandaSpiException):
|
||||
|
||||
SPI_LOCK = threading.Lock()
|
||||
|
||||
class PandaSpiTransfer(ctypes.Structure):
|
||||
_fields_ = [
|
||||
('rx_buf', ctypes.c_uint64),
|
||||
('tx_buf', ctypes.c_uint64),
|
||||
('tx_length', ctypes.c_uint32),
|
||||
('rx_length_max', ctypes.c_uint32),
|
||||
('timeout', ctypes.c_uint32),
|
||||
('endpoint', ctypes.c_uint8),
|
||||
('expect_disconnect', ctypes.c_uint8),
|
||||
]
|
||||
|
||||
class SpiDevice:
|
||||
"""
|
||||
Provides locked, thread-safe access to a panda's SPI interface.
|
||||
@@ -89,107 +107,186 @@ class SpiDevice:
|
||||
self._spidev.close()
|
||||
|
||||
|
||||
|
||||
class PandaSpiHandle(BaseHandle):
|
||||
"""
|
||||
A class that mimics a libusb1 handle for panda SPI communications.
|
||||
"""
|
||||
def __init__(self):
|
||||
|
||||
PROTOCOL_VERSION = 2
|
||||
|
||||
def __init__(self) -> None:
|
||||
self.dev = SpiDevice()
|
||||
|
||||
self._transfer_raw: Callable[[SpiDevice, int, bytes, int, int, bool], bytes] = self._transfer_spidev
|
||||
|
||||
if "KERN" in os.environ:
|
||||
self._transfer_raw = self._transfer_kernel_driver
|
||||
|
||||
self.tx_buf = bytearray(1024)
|
||||
self.rx_buf = bytearray(1024)
|
||||
tx_buf_raw = ctypes.c_char.from_buffer(self.tx_buf)
|
||||
rx_buf_raw = ctypes.c_char.from_buffer(self.rx_buf)
|
||||
|
||||
self.ioctl_data = PandaSpiTransfer()
|
||||
self.ioctl_data.tx_buf = ctypes.addressof(tx_buf_raw)
|
||||
self.ioctl_data.rx_buf = ctypes.addressof(rx_buf_raw)
|
||||
self.fileno = self.dev._spidev.fileno()
|
||||
|
||||
# helpers
|
||||
def _calc_checksum(self, data: List[int]) -> int:
|
||||
def _calc_checksum(self, data: bytes) -> int:
|
||||
cksum = CHECKSUM_START
|
||||
for b in data:
|
||||
cksum ^= b
|
||||
return cksum
|
||||
|
||||
def _wait_for_ack(self, spi, ack_val: int, timeout: int, tx: int) -> None:
|
||||
def _wait_for_ack(self, spi, ack_val: int, timeout: int, tx: int, length: int = 1) -> bytes:
|
||||
timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3
|
||||
|
||||
start = time.monotonic()
|
||||
while (timeout == 0) or ((time.monotonic() - start) < timeout_s):
|
||||
dat = spi.xfer2([tx, ])[0]
|
||||
if dat == NACK:
|
||||
dat = spi.xfer2([tx, ] * length)
|
||||
if dat[0] == NACK:
|
||||
raise PandaSpiNackResponse
|
||||
elif dat == ack_val:
|
||||
return
|
||||
elif dat[0] == ack_val:
|
||||
return bytes(dat)
|
||||
|
||||
raise PandaSpiMissingAck
|
||||
|
||||
def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000) -> bytes:
|
||||
def _transfer_spidev(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
|
||||
max_rx_len = max(USBPACKET_MAX_SIZE, max_rx_len)
|
||||
|
||||
logging.debug("- send header")
|
||||
packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
|
||||
packet += bytes([self._calc_checksum(packet), ])
|
||||
spi.xfer2(packet)
|
||||
|
||||
logging.debug("- waiting for header ACK")
|
||||
self._wait_for_ack(spi, HACK, MIN_ACK_TIMEOUT_MS, 0x11)
|
||||
|
||||
logging.debug("- sending data")
|
||||
packet = bytes([*data, self._calc_checksum(data)])
|
||||
spi.xfer2(packet)
|
||||
|
||||
if expect_disconnect:
|
||||
logging.debug("- expecting disconnect, returning")
|
||||
return b""
|
||||
else:
|
||||
logging.debug("- waiting for data ACK")
|
||||
preread_len = USBPACKET_MAX_SIZE + 1 # read enough for a controlRead
|
||||
dat = self._wait_for_ack(spi, DACK, timeout, 0x13, length=3 + preread_len)
|
||||
|
||||
# get response length, then response
|
||||
response_len = struct.unpack("<H", dat[1:3])[0]
|
||||
if response_len > max_rx_len:
|
||||
raise PandaSpiException(f"response length greater than max ({max_rx_len} {response_len})")
|
||||
|
||||
# read rest
|
||||
remaining = (response_len + 1) - preread_len
|
||||
if remaining > 0:
|
||||
dat += bytes(spi.readbytes(remaining))
|
||||
|
||||
|
||||
dat = dat[:3 + response_len + 1]
|
||||
if self._calc_checksum(dat) != 0:
|
||||
raise PandaSpiBadChecksum
|
||||
|
||||
return dat[3:-1]
|
||||
|
||||
def _transfer_kernel_driver(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
|
||||
self.tx_buf[:len(data)] = data
|
||||
self.ioctl_data.endpoint = endpoint
|
||||
self.ioctl_data.tx_length = len(data)
|
||||
self.ioctl_data.rx_length_max = max_rx_len
|
||||
self.ioctl_data.expect_disconnect = int(expect_disconnect)
|
||||
|
||||
# TODO: use our own ioctl request
|
||||
try:
|
||||
ret = fcntl.ioctl(self.fileno, spidev2.SPI_IOC_RD_LSB_FIRST, self.ioctl_data)
|
||||
except OSError as e:
|
||||
raise PandaSpiException from e
|
||||
if ret < 0:
|
||||
raise PandaSpiException(f"ioctl returned {ret}")
|
||||
return bytes(self.rx_buf[:ret])
|
||||
|
||||
def _transfer(self, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
|
||||
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
|
||||
logging.debug("==============================================")
|
||||
|
||||
n = 0
|
||||
start_time = time.monotonic()
|
||||
exc = PandaSpiException()
|
||||
while (time.monotonic() - start_time) < timeout*1e-3:
|
||||
while (timeout == 0) or (time.monotonic() - start_time) < timeout*1e-3:
|
||||
n += 1
|
||||
logging.debug("\ntry #%d", n+1)
|
||||
try:
|
||||
logging.debug("- send header")
|
||||
packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
|
||||
packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
|
||||
spi.xfer2(packet)
|
||||
logging.debug("\ntry #%d", n)
|
||||
with self.dev.acquire() as spi:
|
||||
try:
|
||||
return self._transfer_raw(spi, endpoint, data, timeout, max_rx_len, expect_disconnect)
|
||||
except PandaSpiException as e:
|
||||
exc = e
|
||||
logging.debug("SPI transfer failed, retrying", exc_info=True)
|
||||
|
||||
to = timeout - (time.monotonic() - start_time)*1e3
|
||||
logging.debug("- waiting for header ACK")
|
||||
self._wait_for_ack(spi, HACK, int(to), 0x11)
|
||||
raise exc
|
||||
|
||||
# send data
|
||||
logging.debug("- sending data")
|
||||
packet = bytes([*data, self._calc_checksum(data)])
|
||||
spi.xfer2(packet)
|
||||
def get_protocol_version(self) -> bytes:
|
||||
vers_str = b"VERSION"
|
||||
def _get_version(spi) -> bytes:
|
||||
spi.writebytes(vers_str)
|
||||
|
||||
to = timeout - (time.monotonic() - start_time)*1e3
|
||||
logging.debug("- waiting for data ACK")
|
||||
self._wait_for_ack(spi, DACK, int(to), 0x13)
|
||||
logging.debug("- waiting for echo")
|
||||
start = time.monotonic()
|
||||
while True:
|
||||
version_bytes = spi.readbytes(len(vers_str) + 2)
|
||||
if bytes(version_bytes).startswith(vers_str):
|
||||
break
|
||||
if (time.monotonic() - start) > 0.01:
|
||||
raise PandaSpiMissingAck
|
||||
|
||||
# get response length, then response
|
||||
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
|
||||
response_len = struct.unpack("<H", response_len_bytes)[0]
|
||||
if response_len > max_rx_len:
|
||||
raise PandaSpiException("response length greater than max")
|
||||
rlen = struct.unpack("<H", bytes(version_bytes[-2:]))[0]
|
||||
if rlen > 1000:
|
||||
raise PandaSpiException("response length greater than max")
|
||||
|
||||
logging.debug("- receiving response")
|
||||
dat = bytes(spi.xfer2(b"\x00" * (response_len + 1)))
|
||||
if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0:
|
||||
raise PandaSpiBadChecksum
|
||||
# get response
|
||||
dat = spi.readbytes(rlen + 1)
|
||||
resp = dat[:-1]
|
||||
calculated_crc = crc8_pedal(bytes(version_bytes + resp))
|
||||
if calculated_crc != dat[-1]:
|
||||
raise PandaSpiBadChecksum
|
||||
return bytes(resp)
|
||||
|
||||
return dat[:-1]
|
||||
except PandaSpiException as e:
|
||||
exc = e
|
||||
logging.debug("SPI transfer failed, retrying", exc_info=True)
|
||||
exc = PandaSpiException()
|
||||
with self.dev.acquire() as spi:
|
||||
for _ in range(10):
|
||||
try:
|
||||
return _get_version(spi)
|
||||
except PandaSpiException as e:
|
||||
exc = e
|
||||
logging.debug("SPI get protocol version failed, retrying", exc_info=True)
|
||||
raise exc
|
||||
|
||||
# libusb1 functions
|
||||
def close(self):
|
||||
self.dev.close()
|
||||
|
||||
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
|
||||
with self.dev.acquire() as spi:
|
||||
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, 0), timeout)
|
||||
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False):
|
||||
return self._transfer(0, struct.pack("<BHHH", request, value, index, 0), timeout, expect_disconnect=expect_disconnect)
|
||||
|
||||
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
|
||||
with self.dev.acquire() as spi:
|
||||
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, length), timeout)
|
||||
return self._transfer(0, struct.pack("<BHHH", request, value, index, length), timeout, max_rx_len=length)
|
||||
|
||||
# TODO: implement these properly
|
||||
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
|
||||
with self.dev.acquire() as spi:
|
||||
for x in range(math.ceil(len(data) / XFER_SIZE)):
|
||||
self._transfer(spi, endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
|
||||
return len(data)
|
||||
def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
|
||||
for x in range(math.ceil(len(data) / XFER_SIZE)):
|
||||
self._transfer(endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
|
||||
return len(data)
|
||||
|
||||
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
|
||||
ret: List[int] = []
|
||||
with self.dev.acquire() as spi:
|
||||
for _ in range(math.ceil(length / XFER_SIZE)):
|
||||
d = self._transfer(spi, endpoint, [], timeout, max_rx_len=XFER_SIZE)
|
||||
ret += d
|
||||
if len(d) < XFER_SIZE:
|
||||
break
|
||||
return bytes(ret)
|
||||
ret = b""
|
||||
for _ in range(math.ceil(length / XFER_SIZE)):
|
||||
d = self._transfer(endpoint, [], timeout, max_rx_len=XFER_SIZE)
|
||||
ret += d
|
||||
if len(d) < XFER_SIZE:
|
||||
break
|
||||
return ret
|
||||
|
||||
|
||||
class STBootloaderSPIHandle(BaseSTBootloaderHandle):
|
||||
|
||||
+14
-9
@@ -229,7 +229,10 @@ class NegativeResponseError(Exception):
|
||||
class InvalidServiceIdError(Exception):
|
||||
pass
|
||||
|
||||
class InvalidSubFunctioneError(Exception):
|
||||
class InvalidSubFunctionError(Exception):
|
||||
pass
|
||||
|
||||
class InvalidSubAddressError(Exception):
|
||||
pass
|
||||
|
||||
_negative_response_codes = {
|
||||
@@ -299,12 +302,12 @@ def get_dtc_status_names(status):
|
||||
|
||||
class CanClient():
|
||||
def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]],
|
||||
tx_addr: int, rx_addr: int, bus: int, sub_addr: int = None, debug: bool = False):
|
||||
tx_addr: int, rx_addr: int, bus: int, sub_addr: Optional[int] = None, debug: bool = False):
|
||||
self.tx = can_send
|
||||
self.rx = can_recv
|
||||
self.tx_addr = tx_addr
|
||||
self.rx_addr = rx_addr
|
||||
self.rx_buff = deque() # type: Deque[bytes]
|
||||
self.rx_buff: Deque[bytes] = deque()
|
||||
self.sub_addr = sub_addr
|
||||
self.bus = bus
|
||||
self.debug = debug
|
||||
@@ -345,6 +348,8 @@ class CanClient():
|
||||
|
||||
# Cut off sub addr in first byte
|
||||
if self.sub_addr is not None:
|
||||
if rx_data[0] != self.sub_addr:
|
||||
raise InvalidSubAddressError(f"isotp - rx: invalid sub-address: {rx_data[0]}, expected: {self.sub_addr}")
|
||||
rx_data = rx_data[1:]
|
||||
|
||||
self.rx_buff.append(rx_data)
|
||||
@@ -468,7 +473,7 @@ class IsoTpMessage():
|
||||
# assert len(rx_data) == self.max_len, f"isotp - rx: invalid CAN frame length: {len(rx_data)}"
|
||||
|
||||
if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE:
|
||||
self.rx_len = rx_data[0] & 0xFF
|
||||
self.rx_len = rx_data[0] & 0x0F
|
||||
assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
|
||||
self.rx_dat = rx_data[1:1 + self.rx_len]
|
||||
self.rx_idx = 0
|
||||
@@ -566,7 +571,7 @@ def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8):
|
||||
|
||||
|
||||
class UdsClient():
|
||||
def __init__(self, panda, tx_addr: int, rx_addr: int = None, bus: int = 0, sub_addr: int = None, timeout: float = 1,
|
||||
def __init__(self, panda, tx_addr: int, rx_addr: Optional[int] = None, bus: int = 0, sub_addr: Optional[int] = None, timeout: float = 1,
|
||||
debug: bool = False, tx_timeout: float = 1, response_pending_timeout: float = 10):
|
||||
self.bus = bus
|
||||
self.tx_addr = tx_addr
|
||||
@@ -579,7 +584,7 @@ class UdsClient():
|
||||
self.response_pending_timeout = response_pending_timeout
|
||||
|
||||
# generic uds request
|
||||
def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int = None, data: bytes = None) -> bytes:
|
||||
def _uds_request(self, service_type: SERVICE_TYPE, subfunction: Optional[int] = None, data: Optional[bytes] = None) -> bytes:
|
||||
req = bytes([service_type])
|
||||
if subfunction is not None:
|
||||
req += bytes([subfunction])
|
||||
@@ -630,7 +635,7 @@ class UdsClient():
|
||||
resp_sfn = resp[1] if len(resp) > 1 else None
|
||||
if subfunction != resp_sfn:
|
||||
resp_sfn_hex = hex(resp_sfn) if resp_sfn is not None else None
|
||||
raise InvalidSubFunctioneError(f'invalid response subfunction: {resp_sfn_hex:x}')
|
||||
raise InvalidSubFunctionError(f'invalid response subfunction: {resp_sfn_hex}')
|
||||
|
||||
# return data (exclude service id and sub-function id)
|
||||
return resp[(1 if subfunction is None else 2):]
|
||||
@@ -667,7 +672,7 @@ class UdsClient():
|
||||
def tester_present(self, ):
|
||||
self._uds_request(SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00)
|
||||
|
||||
def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: bytes = None):
|
||||
def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: Optional[bytes] = None):
|
||||
write_custom_values = timing_parameter_type == TIMING_PARAMETER_TYPE.SET_TO_GIVEN_VALUES
|
||||
read_values = (timing_parameter_type == TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or
|
||||
timing_parameter_type == TIMING_PARAMETER_TYPE.READ_EXTENDED_SET)
|
||||
@@ -710,7 +715,7 @@ class UdsClient():
|
||||
"data": resp[2:], # TODO: parse the reset of response
|
||||
}
|
||||
|
||||
def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE = None):
|
||||
def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: Optional[BAUD_RATE_TYPE] = None):
|
||||
data: Optional[bytes]
|
||||
|
||||
if link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE:
|
||||
|
||||
+2
-3
@@ -1,5 +1,4 @@
|
||||
import struct
|
||||
from typing import List
|
||||
|
||||
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
|
||||
from .constants import McuType
|
||||
@@ -11,13 +10,13 @@ class PandaUsbHandle(BaseHandle):
|
||||
def close(self):
|
||||
self._libusb_handle.close()
|
||||
|
||||
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
|
||||
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False):
|
||||
return self._libusb_handle.controlWrite(request_type, request, value, index, data, timeout)
|
||||
|
||||
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
|
||||
return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout)
|
||||
|
||||
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
|
||||
def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
|
||||
return self._libusb_handle.bulkWrite(endpoint, data, timeout) # type: ignore
|
||||
|
||||
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
def crc8_pedal(data):
|
||||
crc = 0xFF # standard init value
|
||||
poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1
|
||||
size = len(data)
|
||||
for i in range(size - 1, -1, -1):
|
||||
crc ^= data[i]
|
||||
for _ in range(8):
|
||||
if ((crc & 0x80) != 0):
|
||||
crc = ((crc << 1) ^ poly) & 0xFF
|
||||
else:
|
||||
crc <<= 1
|
||||
return crc
|
||||
@@ -9,8 +9,8 @@ def write_code(folder, name, code, header):
|
||||
if not os.path.exists(folder):
|
||||
os.mkdir(folder)
|
||||
|
||||
open(os.path.join(folder, f"{name}.cpp"), 'w').write(code)
|
||||
open(os.path.join(folder, f"{name}.h"), 'w').write(header)
|
||||
open(os.path.join(folder, f"{name}.cpp"), 'w', encoding='utf-8').write(code)
|
||||
open(os.path.join(folder, f"{name}.h"), 'w', encoding='utf-8').write(header)
|
||||
|
||||
|
||||
def load_code(folder, name, lib_name=None):
|
||||
@@ -20,7 +20,7 @@ def load_code(folder, name, lib_name=None):
|
||||
shared_fn = os.path.join(folder, f"lib{lib_name}.{shared_ext}")
|
||||
header_fn = os.path.join(folder, f"{name}.h")
|
||||
|
||||
with open(header_fn) as f:
|
||||
with open(header_fn, encoding='utf-8') as f:
|
||||
header = f.read()
|
||||
|
||||
# is the only thing that can be parsed by cffi
|
||||
|
||||
@@ -204,14 +204,14 @@ def gen_code(folder, name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_p
|
||||
|
||||
# merge code blocks
|
||||
header += "}"
|
||||
code = "\n".join([pre_code, code, open(os.path.join(TEMPLATE_DIR, "ekf_c.c")).read(), post_code])
|
||||
code = "\n".join([pre_code, code, open(os.path.join(TEMPLATE_DIR, "ekf_c.c"), encoding='utf-8').read(), post_code])
|
||||
|
||||
# write to file
|
||||
if not os.path.exists(folder):
|
||||
os.mkdir(folder)
|
||||
|
||||
open(os.path.join(folder, f"{name}.h"), 'w').write(header) # header is used for ffi import
|
||||
open(os.path.join(folder, f"{name}.cpp"), 'w').write(code)
|
||||
open(os.path.join(folder, f"{name}.h"), 'w', encoding='utf-8').write(header) # header is used for ffi import
|
||||
open(os.path.join(folder, f"{name}.cpp"), 'w', encoding='utf-8').write(code)
|
||||
|
||||
|
||||
class EKF_sym():
|
||||
|
||||
Binary file not shown.
@@ -36,7 +36,7 @@ class FeatureHandler():
|
||||
c_code += "#include <string.h>\n"
|
||||
c_code += "#define K %d\n" % K
|
||||
c_code += "extern \"C\" {\n"
|
||||
c_code += "\n" + open(os.path.join(TEMPLATE_DIR, "feature_handler.c")).read()
|
||||
c_code += "\n" + open(os.path.join(TEMPLATE_DIR, "feature_handler.c"), encoding='utf-8').read()
|
||||
c_code += "\n}\n"
|
||||
|
||||
filename = f"{FeatureHandler.name}_{K}"
|
||||
@@ -98,7 +98,7 @@ class FeatureHandler():
|
||||
real = np.isfinite(last_idxs)
|
||||
self.tracks[last_idxs[real].astype(int)] = self.tracks[real]
|
||||
|
||||
mask = np.ones(self.MAX_TRACKS, np.bool)
|
||||
mask = np.ones(self.MAX_TRACKS, bool)
|
||||
mask[last_idxs[real].astype(int)] = 0
|
||||
empty_idxs = np.arange(self.MAX_TRACKS)[mask]
|
||||
|
||||
|
||||
@@ -54,7 +54,7 @@ class LstSqComputer():
|
||||
code += "\n#define KDIM %d\n" % K
|
||||
code += "extern \"C\" {\n"
|
||||
code += sympy_code
|
||||
code += "\n" + open(os.path.join(TEMPLATE_DIR, "compute_pos.c")).read() + "\n"
|
||||
code += "\n" + open(os.path.join(TEMPLATE_DIR, "compute_pos.c"), encoding='utf-8').read() + "\n"
|
||||
code += "}\n"
|
||||
|
||||
header += "\nvoid compute_pos(double *to_c, double *in_poses, double *in_img_positions, double *param, double *pos);\n"
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)" transform="matrix(2.3325 0 0 2.3825 -72.89 -63.797)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
|
||||
|
After Width: | Height: | Size: 466 B |
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25V53.12Z"/><path fill-rule="evenodd" d="M43.44 2.72a9.28 9.28 0 0 1 13.12 0l40.72 40.72a9.26 9.26 0 0 1 0 13.12L56.56 97.28a9.26 9.26 0 0 1-13.1 0L2.71 56.56a9.26 9.26 0 0 1 0-13.11L43.44 2.72Zm8.75 4.37a3.1 3.1 0 0 0-4.38 0L7.1 47.81a3.1 3.1 0 0 0 0 4.38L47.8 92.9a3.1 3.1 0 0 0 4.38 0L92.9 52.2a3.1 3.1 0 0 0 0-4.38L52.2 7.1Z" clip-rule="evenodd"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
|
||||
|
After Width: | Height: | Size: 757 B |
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M49.1 0 36.35 31.82H0l27.27 27.27L13.64 100l35.45-23.64L86.36 100 72.73 59.1 100 31.81H63.64L49.09 0Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
|
||||
|
After Width: | Height: | Size: 315 B |
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M7.7 98.08c0 1.06.85 1.92 1.92 1.92h28.84V76.92h23.08V100H90.4c1.06 0 1.92-.86 1.92-1.92V53.85H7.69v44.23ZM99.47 42.9l-7.17-6.3V7.7a7.7 7.7 0 0 0-15.39 0v15.4L51.4.68A1.92 1.92 0 0 0 48.68.6l-.08.08L.52 42.72a1.92 1.92 0 0 0 1.38 3.24l13.49.2h82.68a1.92 1.92 0 0 0 1.41-3.25Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
|
||||
|
After Width: | Height: | Size: 489 B |
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)"><path d="M53.22 6.37a43.75 43.75 0 0 0-3.21-.12V0a50 50 0 0 1 3.68.14l-.47 6.23Zm12.53 2.81c-2-.77-4.06-1.4-6.16-1.87l1.37-6.1c2.4.54 4.75 1.25 7.04 2.14l-2.25 5.83Zm8.56 4.44c-.9-.6-1.8-1.16-2.74-1.69l3.08-5.44a50.15 50.15 0 0 1 6.12 4.09l-3.85 4.93a43.75 43.75 0 0 0-2.61-1.89ZM85.77 24.8a43.7 43.7 0 0 0-4.08-4.97l4.53-4.31a52.14 52.14 0 0 1 4.66 5.68l-5.1 3.6Zm4.65 8.45a36.5 36.5 0 0 0-1.34-2.92l5.59-2.81a48.6 48.6 0 0 1 2.8 6.8l-5.93 1.95a43.9 43.9 0 0 0-1.12-3.02Zm3.31 15.67a43.68 43.68 0 0 0-.62-6.4l6.15-1.07c.42 2.41.67 4.86.73 7.31l-6.25.16Zm-.81 9.61c.2-1.06.37-2.12.5-3.19l6.2.77a49.3 49.3 0 0 1-1.43 7.22l-6.02-1.67c.28-1.03.53-2.07.75-3.13ZM86.97 73.4A44.16 44.16 0 0 0 90 67.72l5.72 2.53c-1 2.25-2.16 4.42-3.47 6.49l-5.28-3.34Zm-6.03 7.53c.76-.77 1.5-1.55 2.19-2.36l4.74 4.08a49.2 49.2 0 0 1-2.51 2.7l-4.42-4.42Z"/><path d="M50 6.25a43.75 43.75 0 1 0 30.94 74.68l4.42 4.42A50 50 0 1 1 50 0v6.25Z"/><path d="M46.88 18.75a3.13 3.13 0 0 1 3.13 3.12v32.56l20.3 11.6a3.12 3.12 0 0 1-3.1 5.42l-21.88-12.5a3.12 3.12 0 0 1-1.57-2.7V21.86a3.12 3.12 0 0 1 3.12-3.12Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
|
||||
|
After Width: | Height: | Size: 1.2 KiB |
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" width="128" height="128" fill="#fff" class="bi bi-gear-fill"><path d="M75.24 8.4c-3.304-11.2-19.176-11.2-22.48 0l-.8 2.72a11.712 11.712 0 0 1-16.84 6.976l-2.48-1.36c-10.264-5.584-21.488 5.64-15.896 15.896l1.352 2.488c3.568 6.56.184 14.728-6.976 16.84l-2.72.8c-11.2 3.304-11.2 19.176 0 22.48l2.72.8a11.712 11.712 0 0 1 6.976 16.84l-1.36 2.48c-5.584 10.264 5.64 21.488 15.896 15.896l2.488-1.352a11.712 11.712 0 0 1 16.84 6.976l.8 2.72c3.304 11.2 19.176 11.2 22.48 0l.8-2.72a11.712 11.712 0 0 1 16.84-6.976l2.48 1.36c10.264 5.584 21.488-5.64 15.896-15.896l-1.352-2.488a11.712 11.712 0 0 1 6.976-16.84l2.72-.8c11.2-3.304 11.2-19.176 0-22.48l-2.72-.8a11.712 11.712 0 0 1-6.976-16.84l1.36-2.48c5.584-10.264-5.64-21.488-15.896-15.896l-2.488 1.352a11.712 11.712 0 0 1-16.84-6.976ZM64 87.44a23.44 23.44 0 1 1 0-46.88 23.432 23.432 0 0 1 0 46.864z" style="stroke-width:8"/></svg>
|
||||
|
After Width: | Height: | Size: 910 B |
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M77.78 22.22V6.42L70.67 0H29.33l-7.1 8.3v13.92H5.55L0 27.78v66.66L5.56 100h88.88l5.56-5.56V27.78l-5.56-5.56H77.78Zm-44.45-11.1h33.34v11.1H33.33v-11.1Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
|
||||
|
After Width: | Height: | Size: 364 B |
Binary file not shown.
|
Before Width: | Height: | Size: 1.4 MiB |
@@ -137,7 +137,7 @@ class UploadQueueCache:
|
||||
cloudlog.exception("athena.UploadQueueCache.cache.exception")
|
||||
|
||||
|
||||
def handle_long_poll(ws: WebSocket) -> None:
|
||||
def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None:
|
||||
end_event = threading.Event()
|
||||
|
||||
threads = [
|
||||
@@ -156,6 +156,8 @@ def handle_long_poll(ws: WebSocket) -> None:
|
||||
try:
|
||||
while not end_event.is_set():
|
||||
time.sleep(0.1)
|
||||
if exit_event is not None and exit_event.is_set():
|
||||
end_event.set()
|
||||
except (KeyboardInterrupt, SystemExit):
|
||||
end_event.set()
|
||||
raise
|
||||
@@ -758,7 +760,7 @@ def backoff(retries: int) -> int:
|
||||
return random.randrange(0, min(128, int(2 ** retries)))
|
||||
|
||||
|
||||
def main():
|
||||
def main(exit_event: Optional[threading.Event] = None):
|
||||
try:
|
||||
set_core_affinity([0, 1, 2, 3])
|
||||
except Exception:
|
||||
@@ -771,26 +773,34 @@ def main():
|
||||
ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
|
||||
api = Api(dongle_id)
|
||||
|
||||
conn_start = None
|
||||
conn_retries = 0
|
||||
while 1:
|
||||
while exit_event is None or not exit_event.is_set():
|
||||
try:
|
||||
cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri)
|
||||
if conn_start is None:
|
||||
conn_start = time.monotonic()
|
||||
|
||||
cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
|
||||
ws = create_connection(ws_uri,
|
||||
cookie="jwt=" + api.get_token(),
|
||||
enable_multithread=True,
|
||||
timeout=30.0)
|
||||
cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
|
||||
cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
|
||||
duration=time.monotonic() - conn_start)
|
||||
conn_start = None
|
||||
|
||||
conn_retries = 0
|
||||
cur_upload_items.clear()
|
||||
|
||||
handle_long_poll(ws)
|
||||
handle_long_poll(ws, exit_event)
|
||||
except (KeyboardInterrupt, SystemExit):
|
||||
break
|
||||
except (ConnectionError, TimeoutError, WebSocketException):
|
||||
conn_retries += 1
|
||||
params.remove("LastAthenaPingTime")
|
||||
except socket.timeout:
|
||||
# TODO: socket.timeout and TimeoutError are now the same exception since python3.10
|
||||
# Remove the socket.timeout case once we have fully moved to python3.11
|
||||
except socket.timeout: # pylint: disable=duplicate-except
|
||||
params.remove("LastAthenaPingTime")
|
||||
except Exception:
|
||||
cloudlog.exception("athenad.main.exception")
|
||||
|
||||
@@ -32,6 +32,9 @@ def register(show_spinner=False) -> Optional[str]:
|
||||
dongle_id: Optional[str] = params.get("DongleId", encoding='utf8')
|
||||
needs_registration = None in (IMEI, HardwareSerial, dongle_id)
|
||||
|
||||
if not params.get_bool('dp_device_enable_comma_registration'):
|
||||
return UNREGISTERED_DONGLE_ID if dongle_id is None else dongle_id
|
||||
|
||||
pubkey = Path(PERSIST+"/comma/id_rsa.pub")
|
||||
if not pubkey.is_file():
|
||||
dongle_id = UNREGISTERED_DONGLE_ID
|
||||
|
||||
Binary file not shown.
@@ -4,13 +4,15 @@ from libcpp.vector cimport vector
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef struct can_frame:
|
||||
long address
|
||||
string dat
|
||||
long busTime
|
||||
long src
|
||||
cdef extern from "panda.h":
|
||||
cdef struct can_frame:
|
||||
long address
|
||||
string dat
|
||||
long busTime
|
||||
long src
|
||||
|
||||
cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
|
||||
cdef extern from "can_list_to_can_capnp.cc":
|
||||
void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
|
||||
|
||||
def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
|
||||
cdef vector[can_frame] can_list
|
||||
|
||||
Binary file not shown.
@@ -72,6 +72,7 @@ public:
|
||||
std::optional<can_health_t> get_can_state(uint16_t can_number);
|
||||
void set_loopback(bool loopback);
|
||||
std::optional<std::vector<uint8_t>> get_firmware_version();
|
||||
bool up_to_date();
|
||||
std::optional<std::string> get_serial();
|
||||
void set_power_saving(bool power_saving);
|
||||
void enable_deepsleep();
|
||||
|
||||
@@ -14,7 +14,7 @@
|
||||
|
||||
|
||||
#define TIMEOUT 0
|
||||
#define SPI_BUF_SIZE 1024
|
||||
#define SPI_BUF_SIZE 2048
|
||||
|
||||
|
||||
// comms base class
|
||||
@@ -74,7 +74,7 @@ private:
|
||||
uint8_t rx_buf[SPI_BUF_SIZE];
|
||||
inline static std::recursive_mutex hw_lock;
|
||||
|
||||
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout);
|
||||
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
|
||||
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
|
||||
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
|
||||
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
|
||||
|
||||
@@ -3,13 +3,15 @@
|
||||
import os
|
||||
import usb1
|
||||
import time
|
||||
import json
|
||||
import subprocess
|
||||
from typing import List, NoReturn
|
||||
from functools import cmp_to_key
|
||||
|
||||
from panda import Panda, PandaDFU, FW_PATH
|
||||
from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
|
||||
from common.basedir import BASEDIR
|
||||
from common.params import Params
|
||||
from selfdrive.boardd.set_time import set_time
|
||||
from system.hardware import HARDWARE
|
||||
from system.swaglog import cloudlog
|
||||
|
||||
@@ -22,9 +24,56 @@ def get_expected_signature(panda: Panda) -> bytes:
|
||||
cloudlog.exception("Error computing expected signature")
|
||||
return b""
|
||||
|
||||
def read_panda_logs(panda: Panda) -> None:
|
||||
"""
|
||||
Forward panda logs to the cloud
|
||||
"""
|
||||
|
||||
params = Params()
|
||||
serial = panda.get_usb_serial()
|
||||
|
||||
log_state = {}
|
||||
try:
|
||||
l = json.loads(params.get("PandaLogState"))
|
||||
for k, v in l.items():
|
||||
if isinstance(k, str) and isinstance(v, int):
|
||||
log_state[k] = v
|
||||
except (TypeError, json.JSONDecodeError):
|
||||
cloudlog.exception("failed to parse PandaLogState")
|
||||
|
||||
try:
|
||||
if serial in log_state:
|
||||
logs = panda.get_logs(last_id=log_state[serial])
|
||||
else:
|
||||
logs = panda.get_logs(get_all=True)
|
||||
|
||||
# truncate logs to 100 entries if needed
|
||||
MAX_LOGS = 100
|
||||
if len(logs) > MAX_LOGS:
|
||||
cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
|
||||
logs = logs[-MAX_LOGS:]
|
||||
|
||||
# update log state
|
||||
if len(logs) > 0:
|
||||
log_state[serial] = logs[-1]["id"]
|
||||
|
||||
for log in logs:
|
||||
if log['timestamp'] is not None:
|
||||
log['timestamp'] = log['timestamp'].isoformat()
|
||||
cloudlog.event("panda_log", **log, serial=serial)
|
||||
|
||||
params.put("PandaLogState", json.dumps(log_state))
|
||||
except Exception:
|
||||
cloudlog.exception(f"Error getting logs for panda {serial}")
|
||||
|
||||
|
||||
def flash_panda(panda_serial: str) -> Panda:
|
||||
panda = Panda(panda_serial)
|
||||
try:
|
||||
panda = Panda(panda_serial)
|
||||
except PandaProtocolMismatch:
|
||||
cloudlog.warning("detected protocol mismatch, reflashing panda")
|
||||
HARDWARE.recover_internal_panda()
|
||||
raise
|
||||
|
||||
fw_signature = get_expected_signature(panda)
|
||||
internal_panda = panda.is_internal()
|
||||
@@ -44,7 +93,7 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
if internal_panda:
|
||||
HARDWARE.recover_internal_panda()
|
||||
panda.recover(reset=(not internal_panda))
|
||||
cloudlog.info("Done flashing bootloader")
|
||||
cloudlog.info("Done flashing bootstub")
|
||||
|
||||
if panda.bootstub:
|
||||
cloudlog.info("Panda still not booting, exiting")
|
||||
@@ -131,7 +180,7 @@ def main() -> NoReturn:
|
||||
|
||||
# sort pandas to have deterministic order
|
||||
pandas.sort(key=cmp_to_key(panda_sort_cmp))
|
||||
panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore
|
||||
panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))
|
||||
|
||||
# log panda fw versions
|
||||
params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
|
||||
@@ -143,13 +192,19 @@ def main() -> NoReturn:
|
||||
# params.put_bool("PandaHeartbeatLost", True)
|
||||
# cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
|
||||
#
|
||||
# read_panda_logs(panda)
|
||||
#
|
||||
# if first_run:
|
||||
# if panda.is_internal():
|
||||
# # update time from RTC
|
||||
# set_time(cloudlog)
|
||||
#
|
||||
# # reset panda to ensure we're in a good state
|
||||
# cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
|
||||
# if panda.is_internal():
|
||||
# HARDWARE.reset_internal_panda()
|
||||
# else:
|
||||
# panda.reset(reconnect=False)
|
||||
#
|
||||
|
||||
for p in pandas:
|
||||
p.close()
|
||||
@@ -158,6 +213,9 @@ def main() -> NoReturn:
|
||||
# a panda was disconnected while setting everything up. let's try again
|
||||
cloudlog.exception("Panda USB exception while setting up")
|
||||
continue
|
||||
except PandaProtocolMismatch:
|
||||
cloudlog.exception("pandad.protocol_mismatch")
|
||||
continue
|
||||
except Exception:
|
||||
cloudlog.exception("pandad.uncaught_exception")
|
||||
continue
|
||||
|
||||
@@ -3,7 +3,7 @@ import os
|
||||
import datetime
|
||||
from panda import Panda
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2023, month=4, day=1)
|
||||
from common.time import MIN_DATE
|
||||
|
||||
def set_time(logger):
|
||||
sys_time = datetime.datetime.today()
|
||||
|
||||
Binary file not shown.
@@ -1,10 +1,12 @@
|
||||
# functions common among cars
|
||||
import capnp
|
||||
from collections import namedtuple
|
||||
from typing import Dict, Optional
|
||||
|
||||
import capnp
|
||||
|
||||
from cereal import car
|
||||
from common.numpy_fast import clip, interp
|
||||
from typing import Dict
|
||||
|
||||
|
||||
# kg of standard extra cargo to count for drive, gas, etc...
|
||||
STD_CARGO_KG = 136.
|
||||
@@ -175,3 +177,15 @@ def get_safety_config(safety_model, safety_param = None):
|
||||
if safety_param is not None:
|
||||
ret.safetyParam = safety_param
|
||||
return ret
|
||||
|
||||
|
||||
class CanBusBase:
|
||||
offset: int
|
||||
|
||||
def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
|
||||
if CP is None:
|
||||
assert fingerprint is not None
|
||||
num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
|
||||
else:
|
||||
num = len(CP.safetyConfigs)
|
||||
self.offset = 4 * (num - 1)
|
||||
|
||||
@@ -40,7 +40,7 @@ class CarController:
|
||||
torque_l = 0
|
||||
torque_r = 0
|
||||
|
||||
llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0
|
||||
llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
|
||||
if CC.enabled and llk_valid:
|
||||
# Read these from the joystick
|
||||
# TODO: this isn't acceleration, okay?
|
||||
|
||||
@@ -79,6 +79,7 @@ interfaces = load_interfaces(interface_names)
|
||||
def fingerprint(logcan, sendcan, num_pandas):
|
||||
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
|
||||
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
|
||||
disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
|
||||
ecu_rx_addrs = set()
|
||||
params = Params()
|
||||
|
||||
@@ -94,10 +95,12 @@ def fingerprint(logcan, sendcan, num_pandas):
|
||||
cached_params = params.get("CarParamsCache")
|
||||
if cached_params is not None:
|
||||
cached_params = car.CarParams.from_bytes(cached_params)
|
||||
# with car.CarParams.from_bytes(cached_params) as cached_params:
|
||||
if cached_params.carName == "mock":
|
||||
cached_params = None
|
||||
|
||||
if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
|
||||
if cached_params is not None and len(cached_params.carFw) > 0 and \
|
||||
cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
|
||||
cloudlog.warning("Using cached CarParams")
|
||||
vin, vin_rx_addr = cached_params.carVin, 0
|
||||
car_fw = list(cached_params.carFw)
|
||||
|
||||
@@ -4,7 +4,7 @@ from panda import Panda
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
from common.params import Params
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
@@ -12,6 +12,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.carName = "chrysler"
|
||||
ret.dashcamOnly = candidate in RAM_HD
|
||||
|
||||
ret.dashcamOnly = False if ret.dashcamOnly and Params().get_bool("dp_car_dashcam_mode_removal") else ret.dashcamOnly
|
||||
|
||||
# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
|
||||
ret.radarUnavailable = True # DBC[candidate]['radar'] is None
|
||||
ret.steerActuatorDelay = 0.1
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
from enum import IntFlag
|
||||
from dataclasses import dataclass
|
||||
from dataclasses import dataclass, field
|
||||
from typing import Dict, List, Optional, Union
|
||||
|
||||
from cereal import car
|
||||
@@ -60,7 +60,7 @@ RAM_CARS = RAM_DT | RAM_HD
|
||||
@dataclass
|
||||
class ChryslerCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
car_parts: CarParts = CarParts.common([CarHarness.fca])
|
||||
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
@@ -167,7 +167,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
Request(
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
@@ -178,8 +178,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
),
|
||||
],
|
||||
extra_ecus=[
|
||||
(Ecu.hcp, 0x7e2, None), # manages transmission on hybrids
|
||||
(Ecu.abs, 0x7e4, None), # alt address for abs on hybrids
|
||||
(Ecu.hybrid, 0x7e2, None), # manages transmission on hybrids
|
||||
(Ecu.abs, 0x7e4, None), # alt address for abs on hybrids
|
||||
],
|
||||
)
|
||||
|
||||
@@ -224,9 +224,11 @@ FW_VERSIONS = {
|
||||
b'68453511AC',
|
||||
b'68453513AD',
|
||||
b'68453514AD',
|
||||
b'68510280AG',
|
||||
b'68510283AG',
|
||||
b'68527346AE',
|
||||
b'68527375AD',
|
||||
b'68527382AE',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68428609AB',
|
||||
@@ -235,6 +237,7 @@ FW_VERSIONS = {
|
||||
b'68490898AA',
|
||||
b'68500728AA',
|
||||
b'68615033AA',
|
||||
b'68615034AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68292406AH',
|
||||
@@ -254,6 +257,8 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672892AB',
|
||||
b'04672932AB',
|
||||
b'04672932AC',
|
||||
b'22DTRHD_AA',
|
||||
b'68320950AH',
|
||||
b'68320950AI',
|
||||
b'68320950AJ',
|
||||
@@ -265,8 +270,10 @@ FW_VERSIONS = {
|
||||
b'68475160AG',
|
||||
],
|
||||
(Ecu.eps, 0x75A, None): [
|
||||
b'21590101AA',
|
||||
b'68273275AF',
|
||||
b'68273275AG',
|
||||
b'68273275AH',
|
||||
b'68312176AE',
|
||||
b'68312176AG',
|
||||
b'68440789AC',
|
||||
@@ -277,13 +284,19 @@ FW_VERSIONS = {
|
||||
b'68552788AA',
|
||||
b'68552789AA',
|
||||
b'68552790AA',
|
||||
b'68585106AB',
|
||||
b'68585109AB',
|
||||
b'68585112AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05036065AE ',
|
||||
b'05036066AE ',
|
||||
b'05149592AE ',
|
||||
b'05149591AD ',
|
||||
b'05149846AA ',
|
||||
b'05149848AA ',
|
||||
b'68378701AI ',
|
||||
b'68378748AL ',
|
||||
b'68378758AM ',
|
||||
b'68448163AJ',
|
||||
b'68448165AK',
|
||||
@@ -292,6 +305,7 @@ FW_VERSIONS = {
|
||||
b'68539650AD',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05149536AC',
|
||||
b'68360078AL',
|
||||
b'68360080AM',
|
||||
b'68360081AM',
|
||||
|
||||
@@ -7,22 +7,22 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
|
||||
COM_CONT_RESPONSE = b''
|
||||
|
||||
|
||||
def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
|
||||
def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
|
||||
"""Silence an ECU by disabling sending and receiving messages using UDS 0x28.
|
||||
The ECU will stay silent as long as openpilot keeps sending Tester Present.
|
||||
|
||||
This is used to disable the radar in some cars. Openpilot will emulate the radar.
|
||||
WARNING: THIS DISABLES AEB!"""
|
||||
cloudlog.warning(f"ecu disable {hex(addr)} ...")
|
||||
cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
|
||||
|
||||
for i in range(retry):
|
||||
try:
|
||||
query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
|
||||
query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
|
||||
|
||||
for _, _ in query.get_data(timeout).items():
|
||||
cloudlog.warning("communication control disable tx/rx ...")
|
||||
|
||||
query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
|
||||
query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
|
||||
query.get_data(0)
|
||||
|
||||
cloudlog.warning("ecu disabled")
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import re
|
||||
from collections import namedtuple
|
||||
import copy
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Optional, Tuple, Union
|
||||
@@ -144,8 +145,11 @@ DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
|
||||
class CarParts:
|
||||
parts: List[EnumBase] = field(default_factory=list)
|
||||
|
||||
def __call__(self):
|
||||
return copy.deepcopy(self)
|
||||
|
||||
@classmethod
|
||||
def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None):
|
||||
def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = None):
|
||||
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
|
||||
return cls(p)
|
||||
|
||||
@@ -225,7 +229,7 @@ class CarInfo:
|
||||
auto_resume: Optional[bool] = None
|
||||
|
||||
# all the parts needed for the supported car
|
||||
car_parts: CarParts = CarParts()
|
||||
car_parts: CarParts = field(default_factory=CarParts)
|
||||
|
||||
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
|
||||
self.car_name = CP.carName
|
||||
@@ -234,14 +238,14 @@ class CarInfo:
|
||||
|
||||
# longitudinal column
|
||||
op_long = "Stock"
|
||||
if CP.openpilotLongitudinalControl and not CP.enableDsu:
|
||||
op_long = "openpilot"
|
||||
elif CP.experimentalLongitudinalAvailable or CP.enableDsu:
|
||||
if CP.experimentalLongitudinalAvailable or CP.enableDsu:
|
||||
op_long = "openpilot available"
|
||||
if CP.enableDsu:
|
||||
self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
|
||||
else:
|
||||
self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
|
||||
elif CP.openpilotLongitudinalControl and not CP.enableDsu:
|
||||
op_long = "openpilot"
|
||||
|
||||
# min steer & enable speed columns
|
||||
# TODO: set all the min steer speeds in carParams and remove this
|
||||
|
||||
@@ -2,9 +2,9 @@ from cereal import car
|
||||
from common.numpy_fast import clip
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_angle_limits
|
||||
from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
|
||||
create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
|
||||
from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
|
||||
from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
|
||||
create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
|
||||
from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
@@ -27,6 +27,7 @@ class CarController:
|
||||
self.CP = CP
|
||||
self.VM = VM
|
||||
self.packer = CANPacker(dbc_name)
|
||||
self.CAN = CanBus(CP)
|
||||
self.frame = 0
|
||||
|
||||
self.apply_curvature_last = 0
|
||||
@@ -42,18 +43,19 @@ class CarController:
|
||||
|
||||
main_on = CS.out.cruiseState.available
|
||||
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
|
||||
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
|
||||
|
||||
### acc buttons ###
|
||||
if CC.cruiseControl.cancel:
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True))
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
|
||||
elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True))
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
|
||||
# if stock lane centering isn't off, send a button press to toggle it off
|
||||
# the stock system checks for steering pressed, and eventually disengages cruise control
|
||||
elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
|
||||
|
||||
### lateral control ###
|
||||
# send steer msg at 20Hz
|
||||
@@ -67,17 +69,17 @@ class CarController:
|
||||
|
||||
self.apply_curvature_last = apply_curvature
|
||||
|
||||
if self.CP.carFingerprint in CANFD_CARS:
|
||||
if self.CP.carFingerprint in CANFD_CAR:
|
||||
# TODO: extended mode
|
||||
mode = 1 if CC.latActive else 0
|
||||
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
|
||||
can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
|
||||
can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
|
||||
else:
|
||||
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
|
||||
can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
|
||||
|
||||
# send lka msg at 33Hz
|
||||
if (self.frame % CarControllerParams.LKA_STEP) == 0:
|
||||
can_sends.append(create_lka_msg(self.packer))
|
||||
can_sends.append(create_lka_msg(self.packer, self.CAN))
|
||||
|
||||
### longitudinal control ###
|
||||
# send acc msg at 50Hz
|
||||
@@ -89,17 +91,17 @@ class CarController:
|
||||
gas = CarControllerParams.INACTIVE_GAS
|
||||
|
||||
stopping = CC.actuators.longControlState == LongCtrlState.stopping
|
||||
can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping))
|
||||
can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
|
||||
|
||||
### ui ###
|
||||
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
|
||||
# send lkas ui msg at 1Hz or if ui state changes
|
||||
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
|
||||
can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
|
||||
can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
|
||||
# send acc ui msg at 5Hz or if ui state changes
|
||||
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
|
||||
can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive,
|
||||
CS.out.cruiseState.standstill, hud_control,
|
||||
can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
|
||||
fcw_alert, CS.out.cruiseState.standstill, hud_control,
|
||||
CS.acc_tja_status_stock_values))
|
||||
|
||||
self.main_on_last = main_on
|
||||
|
||||
@@ -3,7 +3,8 @@ from common.conversions import Conversions as CV
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams
|
||||
from selfdrive.car.ford.fordcan import CanBus
|
||||
from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
@@ -54,6 +55,10 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
|
||||
# ret.espDisabled = False # TODO: find traction control signal
|
||||
|
||||
if self.CP.carFingerprint in CANFD_CAR:
|
||||
# this signal is always 0 on non-CAN FD cars
|
||||
ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
|
||||
|
||||
# cruise state
|
||||
ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
|
||||
ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
|
||||
@@ -61,6 +66,8 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
|
||||
ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
|
||||
ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
|
||||
|
||||
# gear
|
||||
if self.CP.transmissionType == TransmissionType.automatic:
|
||||
@@ -90,8 +97,9 @@ class CarState(CarStateBase):
|
||||
|
||||
# blindspot sensors
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
|
||||
ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
|
||||
cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp
|
||||
ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
|
||||
ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
|
||||
|
||||
# Stock steering buttons so that we can passthru blinkers etc.
|
||||
self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
|
||||
@@ -178,12 +186,19 @@ class CarState(CarStateBase):
|
||||
("Cluster_Info1_FD1", 10),
|
||||
("SteeringPinion_Data", 100),
|
||||
("EPAS_INFO", 50),
|
||||
("Lane_Assist_Data3_FD1", 33),
|
||||
("Steering_Data_FD1", 10),
|
||||
("BodyInfo_3_FD1", 2),
|
||||
("RCMStatusMessage2_FD1", 10),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
signals += [
|
||||
("LatCtlSte_D_Stat", "Lane_Assist_Data3_FD1"), # PSCM lateral control status
|
||||
]
|
||||
checks += [
|
||||
("Lane_Assist_Data3_FD1", 33),
|
||||
]
|
||||
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
signals += [
|
||||
("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position
|
||||
@@ -201,7 +216,7 @@ class CarState(CarStateBase):
|
||||
("BCM_Lamp_Stat_FD1", 1),
|
||||
]
|
||||
|
||||
if CP.enableBsm:
|
||||
if CP.enableBsm and CP.carFingerprint not in CANFD_CAR:
|
||||
signals += [
|
||||
("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left
|
||||
("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right
|
||||
@@ -211,12 +226,14 @@ class CarState(CarStateBase):
|
||||
("Side_Detect_R_Stat", 5),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main)
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).main)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address
|
||||
("CmbbDeny_B_Actl", "ACCDATA"), # ACC/AEB unavailable/lockout
|
||||
|
||||
("CmbbBrkDecel_B_Rq", "ACCDATA_2"), # AEB actuation request bit
|
||||
|
||||
("HaDsply_No_Cs", "ACCDATA_3"),
|
||||
@@ -263,9 +280,20 @@ class CarState(CarStateBase):
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("ACCDATA", 50),
|
||||
("ACCDATA_2", 50),
|
||||
("ACCDATA_3", 5),
|
||||
("IPMA_Data", 1),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera)
|
||||
if CP.enableBsm and CP.carFingerprint in CANFD_CAR:
|
||||
signals += [
|
||||
("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left
|
||||
("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right
|
||||
]
|
||||
checks += [
|
||||
("Side_Detect_L_Stat", 5),
|
||||
("Side_Detect_R_Stat", 5),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).camera)
|
||||
|
||||
@@ -1,10 +1,27 @@
|
||||
from cereal import car
|
||||
from selfdrive.car.ford.values import CANBUS
|
||||
from selfdrive.car import CanBusBase
|
||||
|
||||
HUDControl = car.CarControl.HUDControl
|
||||
|
||||
|
||||
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
|
||||
class CanBus(CanBusBase):
|
||||
def __init__(self, CP=None, fingerprint=None) -> None:
|
||||
super().__init__(CP, fingerprint)
|
||||
|
||||
@property
|
||||
def main(self) -> int:
|
||||
return self.offset
|
||||
|
||||
@property
|
||||
def radar(self) -> int:
|
||||
return self.offset + 1
|
||||
|
||||
@property
|
||||
def camera(self) -> int:
|
||||
return self.offset + 2
|
||||
|
||||
|
||||
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
|
||||
curvature = (dat[2] << 3) | ((dat[3]) >> 5)
|
||||
curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
|
||||
path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
|
||||
@@ -17,7 +34,7 @@ def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
|
||||
return 0xFF - (checksum & 0xFF)
|
||||
|
||||
|
||||
def create_lka_msg(packer):
|
||||
def create_lka_msg(packer, CAN: CanBus):
|
||||
"""
|
||||
Creates an empty CAN message for the Ford LKA Command.
|
||||
|
||||
@@ -26,10 +43,10 @@ def create_lka_msg(packer):
|
||||
Frequency is 33Hz.
|
||||
"""
|
||||
|
||||
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
|
||||
return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
|
||||
|
||||
|
||||
def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
|
||||
def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
|
||||
curvature_rate: float):
|
||||
"""
|
||||
Creates a CAN message for the Ford TJA/LCA Command.
|
||||
@@ -66,10 +83,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle:
|
||||
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2
|
||||
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
|
||||
}
|
||||
return packer.make_can_msg("LateralMotionControl", CANBUS.main, values)
|
||||
return packer.make_can_msg("LateralMotionControl", CAN.main, values)
|
||||
|
||||
|
||||
def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float,
|
||||
def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
|
||||
curvature_rate: float, counter: int):
|
||||
"""
|
||||
Create a CAN message for the new Ford Lane Centering command.
|
||||
@@ -95,13 +112,13 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
|
||||
}
|
||||
|
||||
# calculate checksum
|
||||
dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2]
|
||||
dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
|
||||
values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
|
||||
|
||||
return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
|
||||
return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
|
||||
|
||||
|
||||
def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool):
|
||||
def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool):
|
||||
"""
|
||||
Creates a CAN message for the Ford ACC Command.
|
||||
|
||||
@@ -122,11 +139,11 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping
|
||||
"AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active
|
||||
"AccStopStat_B_Rq": 1 if stopping else 0,
|
||||
}
|
||||
return packer.make_can_msg("ACCDATA", CANBUS.main, values)
|
||||
return packer.make_can_msg("ACCDATA", CAN.main, values)
|
||||
|
||||
|
||||
def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
|
||||
stock_values: dict):
|
||||
def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
|
||||
hud_control, stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
|
||||
assist status.
|
||||
@@ -197,10 +214,15 @@ def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool
|
||||
"AccTGap_D_Dsply": 4, # Fixed time gap in UI
|
||||
})
|
||||
|
||||
return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
|
||||
# Forwards FCW alert from IPMA
|
||||
if fcw_alert:
|
||||
values["FcwVisblWarn_B_Rq"] = 1 # FCW visible alert
|
||||
|
||||
return packer.make_can_msg("ACCDATA_3", CAN.main, values)
|
||||
|
||||
|
||||
def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
|
||||
def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
|
||||
stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC IPMA/LKAS status.
|
||||
|
||||
@@ -263,11 +285,10 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
|
||||
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31]
|
||||
"LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
|
||||
})
|
||||
return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
|
||||
return packer.make_can_msg("IPMA_Data", CAN.main, values)
|
||||
|
||||
|
||||
def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
|
||||
bus: int = CANBUS.camera):
|
||||
def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
|
||||
"""
|
||||
Creates a CAN message for the Ford SCCM buttons/switches.
|
||||
|
||||
|
||||
@@ -3,7 +3,8 @@ from cereal import car
|
||||
from panda import Panda
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.ford.values import CAR, Ecu
|
||||
from selfdrive.car.ford.fordcan import CanBus
|
||||
from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
@@ -14,23 +15,27 @@ class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
||||
ret.carName = "ford"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
|
||||
|
||||
# These cars are dashcam only for lack of test coverage.
|
||||
# Once a user confirms each car works and a test route is
|
||||
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
||||
ret.dashcamOnly = candidate in {CAR.FOCUS_MK4}
|
||||
ret.dashcamOnly = candidate in {CAR.F_150_MK14}
|
||||
|
||||
ret.radarUnavailable = True
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.steerLimitTimer = 1.0
|
||||
|
||||
CAN = CanBus(fingerprint=fingerprint)
|
||||
cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
|
||||
if CAN.main >= 4:
|
||||
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
|
||||
ret.safetyConfigs = cfgs
|
||||
|
||||
ret.experimentalLongitudinalAvailable = True
|
||||
if experimental_long:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
|
||||
ret.openpilotLongitudinalControl = True
|
||||
|
||||
if candidate in CANFD_CAR:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
|
||||
|
||||
if candidate == CAR.BRONCO_SPORT_MK1:
|
||||
ret.wheelbase = 2.67
|
||||
ret.steerRatio = 17.7
|
||||
@@ -46,6 +51,12 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerRatio = 16.8
|
||||
ret.mass = 2050 + STD_CARGO_KG
|
||||
|
||||
elif candidate == CAR.F_150_MK14:
|
||||
# required trim only on SuperCrew
|
||||
ret.wheelbase = 3.69
|
||||
ret.steerRatio = 17.0
|
||||
ret.mass = 2000 + STD_CARGO_KG
|
||||
|
||||
elif candidate == CAR.FOCUS_MK4:
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 15.0
|
||||
@@ -61,7 +72,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
|
||||
found_ecus = [fw.ecu for fw in car_fw]
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs:
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.manual
|
||||
@@ -69,7 +80,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
|
||||
# TODO: detect bsm in car_fw?
|
||||
ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0]
|
||||
ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
|
||||
|
||||
# LCA can steer down to zero
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
@@ -3,7 +3,8 @@ from math import cos, sin
|
||||
from cereal import car
|
||||
from opendbc.can.parser import CANParser
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car.ford.values import CANBUS, DBC, RADAR
|
||||
from selfdrive.car.ford.fordcan import CanBus
|
||||
from selfdrive.car.ford.values import DBC, RADAR
|
||||
from selfdrive.car.interfaces import RadarInterfaceBase
|
||||
|
||||
DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
|
||||
@@ -12,16 +13,16 @@ DELPHI_MRR_RADAR_START_ADDR = 0x120
|
||||
DELPHI_MRR_RADAR_MSG_COUNT = 64
|
||||
|
||||
|
||||
def _create_delphi_esr_radar_can_parser():
|
||||
def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
|
||||
msg_n = len(DELPHI_ESR_RADAR_MSGS)
|
||||
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
|
||||
DELPHI_ESR_RADAR_MSGS * 3))
|
||||
checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
|
||||
|
||||
return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar)
|
||||
return CANParser(RADAR.DELPHI_ESR, signals, checks, CanBus(CP).radar)
|
||||
|
||||
|
||||
def _create_delphi_mrr_radar_can_parser():
|
||||
def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
|
||||
signals = []
|
||||
checks = []
|
||||
|
||||
@@ -37,7 +38,7 @@ def _create_delphi_mrr_radar_can_parser():
|
||||
]
|
||||
checks += [(msg, 20)]
|
||||
|
||||
return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar)
|
||||
return CANParser(RADAR.DELPHI_MRR, signals, checks, CanBus(CP).radar)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
@@ -50,11 +51,11 @@ class RadarInterface(RadarInterfaceBase):
|
||||
if self.radar is None or CP.radarUnavailable:
|
||||
self.rcp = None
|
||||
elif self.radar == RADAR.DELPHI_ESR:
|
||||
self.rcp = _create_delphi_esr_radar_can_parser()
|
||||
self.rcp = _create_delphi_esr_radar_can_parser(CP)
|
||||
self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
|
||||
self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
|
||||
elif self.radar == RADAR.DELPHI_MRR:
|
||||
self.rcp = _create_delphi_mrr_radar_can_parser()
|
||||
self.rcp = _create_delphi_mrr_radar_can_parser(CP)
|
||||
self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
|
||||
else:
|
||||
raise ValueError(f"Unsupported radar: {self.radar}")
|
||||
|
||||
@@ -1,10 +1,12 @@
|
||||
from collections import defaultdict
|
||||
from dataclasses import dataclass
|
||||
from typing import Dict, List, Set, Union
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
|
||||
Device
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -38,21 +40,16 @@ class CarControllerParams:
|
||||
pass
|
||||
|
||||
|
||||
class CANBUS:
|
||||
main = 0
|
||||
radar = 1
|
||||
camera = 2
|
||||
|
||||
|
||||
class CAR:
|
||||
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
|
||||
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
|
||||
EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
|
||||
F_150_MK14 = "FORD F-150 14TH GEN"
|
||||
FOCUS_MK4 = "FORD FOCUS 4TH GEN"
|
||||
MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
|
||||
|
||||
|
||||
CANFD_CARS: Set[str] = set()
|
||||
CANFD_CAR = {CAR.F_150_MK14}
|
||||
|
||||
|
||||
class RADAR:
|
||||
@@ -62,11 +59,22 @@ class RADAR:
|
||||
|
||||
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
|
||||
|
||||
# F-150 radar is not yet supported
|
||||
DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
FOCUS = CarFootnote(
|
||||
"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.",
|
||||
Column.MODEL,
|
||||
)
|
||||
|
||||
|
||||
@dataclass
|
||||
class FordCarInfo(CarInfo):
|
||||
package: str = "Co-Pilot360 Assist+"
|
||||
car_parts: CarParts = CarParts.common([CarHarness.ford_q3])
|
||||
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3]))
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
|
||||
@@ -81,26 +89,35 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
|
||||
],
|
||||
CAR.EXPLORER_MK6: [
|
||||
FordCarInfo("Ford Explorer 2020-22"),
|
||||
FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
|
||||
FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
|
||||
],
|
||||
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
|
||||
CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
|
||||
CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
|
||||
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
|
||||
}
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
# CAN and CAN FD queries are combined.
|
||||
# FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
|
||||
# TODO: properly handle auxiliary requests to separate queries and add back whitelists
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine],
|
||||
# whitelist_ecus=[Ecu.engine],
|
||||
auxiliary=True,
|
||||
),
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
|
||||
# whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
|
||||
bus=0,
|
||||
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
|
||||
auxiliary=True,
|
||||
),
|
||||
],
|
||||
extra_ecus=[
|
||||
(Ecu.shiftByWire, 0x732, None),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
@@ -122,10 +139,7 @@ FW_VERSIONS = {
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.ESCAPE_MK4: {
|
||||
@@ -136,6 +150,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
@@ -148,16 +163,14 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.EXPLORER_MK6: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
@@ -165,6 +178,7 @@ FW_VERSIONS = {
|
||||
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -184,17 +198,30 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
},
|
||||
CAR.F_150_MK14: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FOCUS_MK4: {
|
||||
@@ -213,8 +240,6 @@ FW_VERSIONS = {
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
],
|
||||
},
|
||||
CAR.MAVERICK_MK1: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
@@ -236,8 +261,5 @@ FW_VERSIONS = {
|
||||
b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user