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Code Issues Packages Projects Releases Wiki Activity

dragonpilot beta3

Browse Source 
date: 2023-10-09T10:55:55
commit: 91b6e3aecd7170f24bccacb10c515ec281c30295
This commit is contained in:
dragonpilot
2023-10-09 10:54:45 -07:00
parent a9ba3193e2
commit cfe0ae9b8a
518 changed files with 159749 additions and 17401 deletions
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.gitignore
+3
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@@ -1,4 +1,6 @@
venv/
.venv/
.ci_cache
.env
.clang-format
.DS_Store
@@ -46,6 +48,7 @@ selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/ui/translations/alerts_generated.h
selfdrive/ui/translations/tmp
selfdrive/test/longitudinal_maneuvers/out
selfdrive/car/tests/cars_dump
system/camerad/camerad
CHANGELOGS.md
+16 -1
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@@ -1,6 +1,21 @@
dragonpilot beta3 2023.08.22
dragonpilot beta3 2023.10.09
=======================
* openpilot master branch on 2023.07.21.
* Comma 0.9.6 release
* Night Strike Model
* Improved navigate on openpilot performance using navigation instructions as an additional model input
* DP HIGHLIGHT:
* Always on lateral.
* Otisserv with snapshot! Comma Prime Experience https://dragonpilot.org/
* Dynamic End-to-End Longitudinal Control
* Road Edge Detection
* Acceleration profiles
* Enhanced BSM for all Toyota/Lexus that is not currently supported by stock openpilot.
* Display Mode
* Audible Alert Mode
* File server
* Lane Priority Mode
* New minimal UI with on screen button.
dragonpilot [2023.5.12]
=======================
README.md
Executable → Regular
+10 -6
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@@ -39,13 +39,17 @@ Running on a dedicated device in a car
------
To use openpilot in a car, you need four things
* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x)
2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software.
To install the release version of openpilot, use the URL `openpilot.comma.ai`.
To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork.
We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more.
If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot.
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
Running on PC
------
RELEASES.md
+11 -1
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@@ -1,5 +1,15 @@
Version 0.9.5 (202X-XX-XX)
Version 0.9.5 (2023-XX-XX)
========================
* New driving model
* Improved navigate on openpilot performance using navigation instructions as an additional model input
* Hyundai Azera 2022 support thanks to sunnyhaibin!
* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
* Kia Optima Hybrid 2019 support
* Lexus IS 2023 support thanks to L3R5!
Version 0.9.4 (2023-07-27)
body/board/obj/body.bin
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body/board/obj/gitversion.h
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@@ -1 +1 @@
const uint8_t gitversion[8] = "bbab69eb";
const uint8_t gitversion[8] = "b6dc9e48";
cereal/car.capnp
+6 -4
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@@ -63,7 +63,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
driverUnresponsive @45;
belowSteerSpeed @46;
lowBattery @48;
vehicleModelInvalid @50;
accFaulted @51;
sensorDataInvalid @52;
commIssue @53;
@@ -106,7 +105,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
roadCameraError @100;
driverCameraError @101;
wideRoadCameraError @102;
localizerMalfunction @103;
highCpuUsage @105;
cruiseMismatch @106;
lkasDisabled @107;
@@ -115,6 +113,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
resumeBlocked @113;
steerTimeLimit @115;
vehicleSensorsInvalid @116;
locationdTemporaryError @103;
locationdPermanentError @118;
paramsdTemporaryError @50;
paramsdPermanentError @119;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
@@ -458,8 +460,8 @@ struct CarParams {
lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indi @27 :LateralINDITuning;
lqr @40 :LateralLQRTuning;
indiDEPRECATED @27 :LateralINDITuning;
lqrDEPRECATED @40 :LateralLQRTuning;
torque @67 :LateralTorqueTuning;
}
cereal/gen/cpp/car.capnp.c++
+325 -311
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@@ -214,7 +214,7 @@ const ::capnp::_::RawSchema s_9b1657f34caf3ad3 = {
1, 11, i_9b1657f34caf3ad3, nullptr, nullptr, { &s_9b1657f34caf3ad3, nullptr, nullptr, 0, 0, nullptr }
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<688> b_baa8c5d505f727de = {
static const ::capnp::_::AlignedData<700> b_baa8c5d505f727de = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
222, 39, 247, 5, 213, 197, 168, 186,
19, 0, 0, 0, 2, 0, 0, 0,
@@ -224,7 +224,7 @@ static const ::capnp::_::AlignedData<688> b_baa8c5d505f727de = {
21, 0, 0, 0, 234, 0, 0, 0,
33, 0, 0, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
29, 0, 0, 0, 23, 11, 0, 0,
29, 0, 0, 0, 71, 11, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
99, 97, 114, 46, 99, 97, 112, 110,
@@ -232,360 +232,366 @@ static const ::capnp::_::AlignedData<688> b_baa8c5d505f727de = {
110, 116, 46, 69, 118, 101, 110, 116,
78, 97, 109, 101, 0, 0, 0, 0,
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17, 5, 0, 0, 2, 1, 0, 0,
27, 0, 0, 0, 0, 0, 0, 0,
97, 5, 0, 0, 82, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
114, 0, 0, 0, 0, 0, 0, 0,
21, 5, 0, 0, 202, 0, 0, 0,
28, 0, 0, 0, 0, 0, 0, 0,
93, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
110, 0, 0, 0, 0, 0, 0, 0,
25, 5, 0, 0, 218, 0, 0, 0,
29, 0, 0, 0, 0, 0, 0, 0,
89, 5, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
69, 0, 0, 0, 0, 0, 0, 0,
29, 5, 0, 0, 138, 0, 0, 0,
30, 0, 0, 0, 0, 0, 0, 0,
85, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
70, 0, 0, 0, 0, 0, 0, 0,
29, 5, 0, 0, 50, 0, 0, 0,
103, 0, 0, 0, 0, 0, 0, 0,
81, 5, 0, 0, 186, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
111, 0, 0, 0, 0, 0, 0, 0,
21, 5, 0, 0, 234, 0, 0, 0,
31, 0, 0, 0, 0, 0, 0, 0,
81, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
71, 0, 0, 0, 0, 0, 0, 0,
25, 5, 0, 0, 130, 0, 0, 0,
32, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 218, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
112, 0, 0, 0, 0, 0, 0, 0,
21, 5, 0, 0, 234, 0, 0, 0,
33, 0, 0, 0, 0, 0, 0, 0,
81, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
72, 0, 0, 0, 0, 0, 0, 0,
25, 5, 0, 0, 114, 0, 0, 0,
34, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
73, 0, 0, 0, 0, 0, 0, 0,
21, 5, 0, 0, 114, 0, 0, 0,
35, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 186, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
74, 0, 0, 0, 0, 0, 0, 0,
17, 5, 0, 0, 122, 0, 0, 0,
36, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
75, 0, 0, 0, 0, 0, 0, 0,
13, 5, 0, 0, 146, 0, 0, 0,
104, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
113, 0, 0, 0, 0, 0, 0, 0,
13, 5, 0, 0, 210, 0, 0, 0,
105, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 210, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
77, 0, 0, 0, 0, 0, 0, 0,
17, 5, 0, 0, 122, 0, 0, 0,
106, 0, 0, 0, 0, 0, 0, 0,
81, 5, 0, 0, 218, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
78, 0, 0, 0, 0, 0, 0, 0,
13, 5, 0, 0, 146, 0, 0, 0,
37, 0, 0, 0, 0, 0, 0, 0,
85, 5, 0, 0, 178, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
79, 0, 0, 0, 0, 0, 0, 0,
13, 5, 0, 0, 98, 0, 0, 0,
38, 0, 0, 0, 0, 0, 0, 0,
85, 5, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
115, 0, 0, 0, 0, 0, 0, 0,
9, 5, 0, 0, 18, 1, 0, 0,
39, 0, 0, 0, 0, 0, 0, 0,
89, 5, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
80, 0, 0, 0, 0, 0, 0, 0,
17, 5, 0, 0, 170, 0, 0, 0,
40, 0, 0, 0, 0, 0, 0, 0,
89, 5, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
81, 0, 0, 0, 0, 0, 0, 0,
17, 5, 0, 0, 74, 0, 0, 0,
107, 0, 0, 0, 0, 0, 0, 0,
85, 5, 0, 0, 242, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
82, 0, 0, 0, 0, 0, 0, 0,
13, 5, 0, 0, 130, 0, 0, 0,
41, 0, 0, 0, 0, 0, 0, 0,
89, 5, 0, 0, 90, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
83, 0, 0, 0, 0, 0, 0, 0,
9, 5, 0, 0, 146, 0, 0, 0,
108, 0, 0, 0, 0, 0, 0, 0,
85, 5, 0, 0, 242, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
84, 0, 0, 0, 0, 0, 0, 0,
9, 5, 0, 0, 162, 0, 0, 0,
94, 0, 0, 0, 0, 0, 0, 0,
89, 5, 0, 0, 178, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
85, 0, 0, 0, 0, 0, 0, 0,
9, 5, 0, 0, 170, 0, 0, 0,
42, 0, 0, 0, 0, 0, 0, 0,
89, 5, 0, 0, 90, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
66, 0, 0, 0, 0, 0, 0, 0,
9, 5, 0, 0, 98, 0, 0, 0,
43, 0, 0, 0, 0, 0, 0, 0,
85, 5, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
86, 0, 0, 0, 0, 0, 0, 0,
5, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
87, 0, 0, 0, 0, 0, 0, 0,
1, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
88, 0, 0, 0, 0, 0, 0, 0,
253, 4, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
13, 0, 0, 0, 0, 0, 0, 0,
249, 4, 0, 0, 154, 0, 0, 0,
44, 0, 0, 0, 0, 0, 0, 0,
85, 5, 0, 0, 82, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
46, 0, 0, 0, 0, 0, 0, 0,
249, 4, 0, 0, 138, 0, 0, 0,
81, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
47, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
48, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
49, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
50, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
51, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 90, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
109, 0, 0, 0, 0, 0, 0, 0,
69, 5, 0, 0, 250, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
110, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 42, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
97, 0, 0, 0, 0, 0, 0, 0,
81, 5, 0, 0, 42, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
52, 0, 0, 0, 0, 0, 0, 0,
89, 5, 0, 0, 82, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
53, 0, 0, 0, 0, 0, 0, 0,
85, 5, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
54, 0, 0, 0, 0, 0, 0, 0,
81, 5, 0, 0, 34, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
55, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
98, 0, 0, 0, 0, 0, 0, 0,
69, 5, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
99, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 242, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
56, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
57, 0, 0, 0, 0, 0, 0, 0,
77, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
58, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
59, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
12, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
60, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
61, 0, 0, 0, 0, 0, 0, 0,
69, 5, 0, 0, 66, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
62, 0, 0, 0, 0, 0, 0, 0,
61, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
63, 0, 0, 0, 0, 0, 0, 0,
57, 5, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
64, 0, 0, 0, 0, 0, 0, 0,
57, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
66, 0, 0, 0, 0, 0, 0, 0,
53, 5, 0, 0, 34, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
67, 0, 0, 0, 0, 0, 0, 0,
45, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
111, 0, 0, 0, 0, 0, 0, 0,
41, 5, 0, 0, 2, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
116, 0, 0, 0, 0, 0, 0, 0,
45, 5, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
112, 0, 0, 0, 0, 0, 0, 0,
49, 5, 0, 0, 218, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
68, 0, 0, 0, 0, 0, 0, 0,
53, 5, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
69, 0, 0, 0, 0, 0, 0, 0,
53, 5, 0, 0, 50, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
113, 0, 0, 0, 0, 0, 0, 0,
45, 5, 0, 0, 234, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
70, 0, 0, 0, 0, 0, 0, 0,
49, 5, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
114, 0, 0, 0, 0, 0, 0, 0,
45, 5, 0, 0, 234, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
71, 0, 0, 0, 0, 0, 0, 0,
49, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
72, 0, 0, 0, 0, 0, 0, 0,
45, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
73, 0, 0, 0, 0, 0, 0, 0,
41, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
74, 0, 0, 0, 0, 0, 0, 0,
37, 5, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
115, 0, 0, 0, 0, 0, 0, 0,
37, 5, 0, 0, 210, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
76, 0, 0, 0, 0, 0, 0, 0,
249, 4, 0, 0, 130, 0, 0, 0,
41, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
89, 0, 0, 0, 0, 0, 0, 0,
245, 4, 0, 0, 114, 0, 0, 0,
77, 0, 0, 0, 0, 0, 0, 0,
37, 5, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
90, 0, 0, 0, 0, 0, 0, 0,
241, 4, 0, 0, 138, 0, 0, 0,
78, 0, 0, 0, 0, 0, 0, 0,
37, 5, 0, 0, 98, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
91, 0, 0, 0, 0, 0, 0, 0,
241, 4, 0, 0, 114, 0, 0, 0,
117, 0, 0, 0, 0, 0, 0, 0,
33, 5, 0, 0, 18, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
14, 0, 0, 0, 0, 0, 0, 0,
237, 4, 0, 0, 114, 0, 0, 0,
79, 0, 0, 0, 0, 0, 0, 0,
41, 5, 0, 0, 170, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
80, 0, 0, 0, 0, 0, 0, 0,
41, 5, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
81, 0, 0, 0, 0, 0, 0, 0,
37, 5, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
82, 0, 0, 0, 0, 0, 0, 0,
33, 5, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
83, 0, 0, 0, 0, 0, 0, 0,
33, 5, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
92, 0, 0, 0, 0, 0, 0, 0,
233, 4, 0, 0, 122, 0, 0, 0,
33, 5, 0, 0, 194, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
93, 0, 0, 0, 0, 0, 0, 0,
229, 4, 0, 0, 178, 0, 0, 0,
65, 0, 0, 0, 0, 0, 0, 0,
33, 5, 0, 0, 98, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
84, 0, 0, 0, 0, 0, 0, 0,
29, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
85, 0, 0, 0, 0, 0, 0, 0,
25, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
86, 0, 0, 0, 0, 0, 0, 0,
21, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
13, 0, 0, 0, 0, 0, 0, 0,
17, 5, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
45, 0, 0, 0, 0, 0, 0, 0,
17, 5, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
75, 0, 0, 0, 0, 0, 0, 0,
17, 5, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
87, 0, 0, 0, 0, 0, 0, 0,
13, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
88, 0, 0, 0, 0, 0, 0, 0,
9, 5, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
89, 0, 0, 0, 0, 0, 0, 0,
9, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
14, 0, 0, 0, 0, 0, 0, 0,
5, 5, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
90, 0, 0, 0, 0, 0, 0, 0,
1, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
91, 0, 0, 0, 0, 0, 0, 0,
253, 4, 0, 0, 178, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
21, 0, 0, 0, 0, 0, 0, 0,
229, 4, 0, 0, 202, 0, 0, 0,
253, 4, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
93, 0, 0, 0, 0, 0, 0, 0,
1, 5, 0, 0, 194, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
95, 0, 0, 0, 0, 0, 0, 0,
1, 5, 0, 0, 178, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
99, 97, 110, 69, 114, 114, 111, 114,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -721,9 +727,9 @@ static const ::capnp::_::AlignedData<688> b_baa8c5d505f727de = {
105, 114, 97, 102, 102, 101, 72, 111,
110, 100, 97, 68, 69, 80, 82, 69,
67, 65, 84, 69, 68, 0, 0, 0,
118, 101, 104, 105, 99, 108, 101, 77,
111, 100, 101, 108, 73, 110, 118, 97,
108, 105, 100, 0, 0, 0, 0, 0,
112, 97, 114, 97, 109, 115, 100, 84,
101, 109, 112, 111, 114, 97, 114, 121,
69, 114, 114, 111, 114, 0, 0, 0,
97, 99, 99, 70, 97, 117, 108, 116,
101, 100, 0, 0, 0, 0, 0, 0,
115, 101, 110, 115, 111, 114, 68, 97,
@@ -866,9 +872,9 @@ static const ::capnp::_::AlignedData<688> b_baa8c5d505f727de = {
119, 105, 100, 101, 82, 111, 97, 100,
67, 97, 109, 101, 114, 97, 69, 114,
114, 111, 114, 0, 0, 0, 0, 0,
108, 111, 99, 97, 108, 105, 122, 101,
114, 77, 97, 108, 102, 117, 110, 99,
116, 105, 111, 110, 0, 0, 0, 0,
108, 111, 99, 97, 116, 105, 111, 110,
100, 84, 101, 109, 112, 111, 114, 97,
114, 121, 69, 114, 114, 111, 114, 0,
115, 116, 97, 114, 116, 117, 112, 78,
111, 70, 119, 0, 0, 0, 0, 0,
104, 105, 103, 104, 67, 112, 117, 85,
@@ -902,14 +908,20 @@ static const ::capnp::_::AlignedData<688> b_baa8c5d505f727de = {
99, 97, 108, 105, 98, 114, 97, 116,
105, 111, 110, 82, 101, 99, 97, 108,
105, 98, 114, 97, 116, 105, 110, 103,
0, 0, 0, 0, 0, 0, 0, 0, }
0, 0, 0, 0, 0, 0, 0, 0,
108, 111, 99, 97, 116, 105, 111, 110,
100, 80, 101, 114, 109, 97, 110, 101,
110, 116, 69, 114, 114, 111, 114, 0,
112, 97, 114, 97, 109, 115, 100, 80,
101, 114, 109, 97, 110, 101, 110, 116,
69, 114, 114, 111, 114, 0, 0, 0, }
};
::capnp::word const* const bp_baa8c5d505f727de = b_baa8c5d505f727de.words;
#if !CAPNP_LITE
static const uint16_t m_baa8c5d505f727de[] = {51, 84, 46, 28, 2, 11, 12, 20, 21, 47, 117, 110, 92, 111, 0, 66, 53, 109, 83, 62, 98, 22, 112, 14, 106, 96, 16, 90, 5, 101, 39, 68, 42, 41, 45, 7, 91, 79, 86, 108, 3, 40, 94, 105, 61, 49, 60, 69, 33, 34, 59, 71, 65, 107, 103, 48, 63, 31, 30, 27, 93, 89, 88, 85, 25, 18, 19, 29, 24, 23, 13, 32, 55, 37, 43, 73, 57, 58, 95, 38, 44, 15, 67, 26, 72, 113, 36, 10, 100, 6, 52, 56, 70, 17, 75, 97, 78, 76, 77, 104, 82, 114, 80, 9, 35, 115, 1, 64, 74, 54, 99, 50, 116, 81, 102, 8, 87, 4};
static const uint16_t m_baa8c5d505f727de[] = {51, 84, 46, 28, 2, 11, 12, 20, 21, 47, 117, 110, 92, 111, 0, 66, 53, 109, 83, 62, 98, 22, 112, 14, 106, 96, 16, 90, 5, 101, 39, 68, 42, 41, 45, 7, 91, 79, 86, 108, 3, 40, 94, 105, 61, 49, 60, 69, 33, 34, 59, 71, 65, 107, 118, 103, 48, 63, 31, 30, 27, 93, 89, 88, 85, 25, 18, 19, 119, 50, 29, 24, 23, 13, 32, 55, 37, 43, 73, 57, 58, 95, 38, 44, 15, 67, 26, 72, 113, 36, 10, 100, 6, 52, 56, 70, 17, 75, 97, 78, 76, 77, 104, 82, 114, 80, 9, 35, 115, 1, 64, 74, 54, 99, 116, 81, 102, 8, 87, 4};
const ::capnp::_::RawSchema s_baa8c5d505f727de = {
0xbaa8c5d505f727de, b_baa8c5d505f727de.words, 688, nullptr, m_baa8c5d505f727de,
0, 118, nullptr, nullptr, nullptr, { &s_baa8c5d505f727de, nullptr, nullptr, 0, 0, nullptr }
0xbaa8c5d505f727de, b_baa8c5d505f727de.words, 700, nullptr, m_baa8c5d505f727de,
0, 120, nullptr, nullptr, nullptr, { &s_baa8c5d505f727de, nullptr, nullptr, 0, 0, nullptr }
};
#endif // !CAPNP_LITE
CAPNP_DEFINE_ENUM(EventName_baa8c5d505f727de, baa8c5d505f727de);
@@ -6497,7 +6509,7 @@ const ::capnp::_::RawSchema s_ff99e3682a833c51 = {
};
#endif // !CAPNP_LITE
CAPNP_DEFINE_ENUM(NetworkLocation_ff99e3682a833c51, ff99e3682a833c51);
static const ::capnp::_::AlignedData<78> b_93fc580a35339568 = {
static const ::capnp::_::AlignedData<80> b_93fc580a35339568 = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
104, 149, 51, 53, 10, 88, 252, 147,
20, 0, 0, 0, 1, 0, 17, 0,
@@ -6526,24 +6538,24 @@ static const ::capnp::_::AlignedData<78> b_93fc580a35339568 = {
1, 0, 254, 255, 9, 0, 0, 0,
0, 0, 1, 0, 27, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
101, 0, 0, 0, 42, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
96, 0, 0, 0, 3, 0, 1, 0,
108, 0, 0, 0, 2, 0, 1, 0,
2, 0, 253, 255, 9, 0, 0, 0,
0, 0, 1, 0, 40, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
105, 0, 0, 0, 34, 0, 0, 0,
101, 0, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
100, 0, 0, 0, 3, 0, 1, 0,
112, 0, 0, 0, 2, 0, 1, 0,
2, 0, 253, 255, 9, 0, 0, 0,
0, 0, 1, 0, 40, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
109, 0, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
108, 0, 0, 0, 3, 0, 1, 0,
120, 0, 0, 0, 2, 0, 1, 0,
3, 0, 252, 255, 9, 0, 0, 0,
0, 0, 1, 0, 67, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
109, 0, 0, 0, 58, 0, 0, 0,
117, 0, 0, 0, 58, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
104, 0, 0, 0, 3, 0, 1, 0,
116, 0, 0, 0, 2, 0, 1, 0,
112, 0, 0, 0, 3, 0, 1, 0,
124, 0, 0, 0, 2, 0, 1, 0,
112, 105, 100, 0, 0, 0, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
46, 76, 209, 203, 63, 114, 34, 150,
@@ -6552,7 +6564,8 @@ static const ::capnp::_::AlignedData<78> b_93fc580a35339568 = {
16, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
105, 110, 100, 105, 0, 0, 0, 0,
105, 110, 100, 105, 68, 69, 80, 82,
69, 67, 65, 84, 69, 68, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
179, 51, 85, 4, 46, 71, 52, 163,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -6560,7 +6573,8 @@ static const ::capnp::_::AlignedData<78> b_93fc580a35339568 = {
16, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
108, 113, 114, 0, 0, 0, 0, 0,
108, 113, 114, 68, 69, 80, 82, 69,
67, 65, 84, 69, 68, 0, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
18, 106, 97, 40, 63, 30, 21, 157,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -6589,7 +6603,7 @@ static const ::capnp::_::RawSchema* const d_93fc580a35339568[] = {
static const uint16_t m_93fc580a35339568[] = {1, 2, 0, 3};
static const uint16_t i_93fc580a35339568[] = {0, 1, 2, 3};
const ::capnp::_::RawSchema s_93fc580a35339568 = {
0x93fc580a35339568, b_93fc580a35339568.words, 78, d_93fc580a35339568, m_93fc580a35339568,
0x93fc580a35339568, b_93fc580a35339568.words, 80, d_93fc580a35339568, m_93fc580a35339568,
5, 4, i_93fc580a35339568, nullptr, nullptr, { &s_93fc580a35339568, nullptr, nullptr, 0, 0, nullptr }
};
#endif // !CAPNP_LITE
cereal/gen/cpp/car.capnp.h
+66 -64
View File
@@ -67,7 +67,7 @@ enum class EventName_baa8c5d505f727de: uint16_t {
CALIBRATION_PROGRESS_D_E_P_R_E_C_A_T_E_D,
LOW_BATTERY,
INVALID_GIRAFFE_HONDA_D_E_P_R_E_C_A_T_E_D,
VEHICLE_MODEL_INVALID,
PARAMSD_TEMPORARY_ERROR,
ACC_FAULTED,
SENSOR_DATA_INVALID,
COMM_ISSUE,
@@ -120,7 +120,7 @@ enum class EventName_baa8c5d505f727de: uint16_t {
ROAD_CAMERA_ERROR,
DRIVER_CAMERA_ERROR,
WIDE_ROAD_CAMERA_ERROR,
LOCALIZER_MALFUNCTION,
LOCATIOND_TEMPORARY_ERROR,
STARTUP_NO_FW,
HIGH_CPU_USAGE,
CRUISE_MISMATCH,
@@ -135,6 +135,8 @@ enum class EventName_baa8c5d505f727de: uint16_t {
STEER_TIME_LIMIT,
VEHICLE_SENSORS_INVALID,
CALIBRATION_RECALIBRATING,
LOCATIOND_PERMANENT_ERROR,
PARAMSD_PERMANENT_ERROR,
};
CAPNP_DECLARE_ENUM(EventName, baa8c5d505f727de);
CAPNP_DECLARE_SCHEMA(9da4fa09e052903c);
@@ -675,8 +677,8 @@ struct CarParams::LateralTuning {
class Pipeline;
enum Which: uint16_t {
PID,
INDI,
LQR,
INDI_D_E_P_R_E_C_A_T_E_D,
LQR_D_E_P_R_E_C_A_T_E_D,
TORQUE,
};
@@ -3704,13 +3706,13 @@ public:
inline bool hasPid() const;
inline ::cereal::CarParams::LateralPIDTuning::Reader getPid() const;
inline bool isIndi() const;
inline bool hasIndi() const;
inline ::cereal::CarParams::LateralINDITuning::Reader getIndi() const;
inline bool isIndiDEPRECATED() const;
inline bool hasIndiDEPRECATED() const;
inline ::cereal::CarParams::LateralINDITuning::Reader getIndiDEPRECATED() const;
inline bool isLqr() const;
inline bool hasLqr() const;
inline ::cereal::CarParams::LateralLQRTuning::Reader getLqr() const;
inline bool isLqrDEPRECATED() const;
inline bool hasLqrDEPRECATED() const;
inline ::cereal::CarParams::LateralLQRTuning::Reader getLqrDEPRECATED() const;
inline bool isTorque() const;
inline bool hasTorque() const;
@@ -3753,21 +3755,21 @@ public:
inline void adoptPid(::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value);
inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> disownPid();
inline bool isIndi();
inline bool hasIndi();
inline ::cereal::CarParams::LateralINDITuning::Builder getIndi();
inline void setIndi( ::cereal::CarParams::LateralINDITuning::Reader value);
inline ::cereal::CarParams::LateralINDITuning::Builder initIndi();
inline void adoptIndi(::capnp::Orphan< ::cereal::CarParams::LateralINDITuning>&& value);
inline ::capnp::Orphan< ::cereal::CarParams::LateralINDITuning> disownIndi();
inline bool isIndiDEPRECATED();
inline bool hasIndiDEPRECATED();
inline ::cereal::CarParams::LateralINDITuning::Builder getIndiDEPRECATED();
inline void setIndiDEPRECATED( ::cereal::CarParams::LateralINDITuning::Reader value);
inline ::cereal::CarParams::LateralINDITuning::Builder initIndiDEPRECATED();
inline void adoptIndiDEPRECATED(::capnp::Orphan< ::cereal::CarParams::LateralINDITuning>&& value);
inline ::capnp::Orphan< ::cereal::CarParams::LateralINDITuning> disownIndiDEPRECATED();
inline bool isLqr();
inline bool hasLqr();
inline ::cereal::CarParams::LateralLQRTuning::Builder getLqr();
inline void setLqr( ::cereal::CarParams::LateralLQRTuning::Reader value);
inline ::cereal::CarParams::LateralLQRTuning::Builder initLqr();
inline void adoptLqr(::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning>&& value);
inline ::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning> disownLqr();
inline bool isLqrDEPRECATED();
inline bool hasLqrDEPRECATED();
inline ::cereal::CarParams::LateralLQRTuning::Builder getLqrDEPRECATED();
inline void setLqrDEPRECATED( ::cereal::CarParams::LateralLQRTuning::Reader value);
inline ::cereal::CarParams::LateralLQRTuning::Builder initLqrDEPRECATED();
inline void adoptLqrDEPRECATED(::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning>&& value);
inline ::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning> disownLqrDEPRECATED();
inline bool isTorque();
inline bool hasTorque();
@@ -8668,109 +8670,109 @@ inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> CarParams::Latera
::capnp::bounded<9>() * ::capnp::POINTERS));
}
inline bool CarParams::LateralTuning::Reader::isIndi() const {
return which() == CarParams::LateralTuning::INDI;
inline bool CarParams::LateralTuning::Reader::isIndiDEPRECATED() const {
return which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D;
}
inline bool CarParams::LateralTuning::Builder::isIndi() {
return which() == CarParams::LateralTuning::INDI;
inline bool CarParams::LateralTuning::Builder::isIndiDEPRECATED() {
return which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D;
}
inline bool CarParams::LateralTuning::Reader::hasIndi() const {
if (which() != CarParams::LateralTuning::INDI) return false;
inline bool CarParams::LateralTuning::Reader::hasIndiDEPRECATED() const {
if (which() != CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D) return false;
return !_reader.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS).isNull();
}
inline bool CarParams::LateralTuning::Builder::hasIndi() {
if (which() != CarParams::LateralTuning::INDI) return false;
inline bool CarParams::LateralTuning::Builder::hasIndiDEPRECATED() {
if (which() != CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D) return false;
return !_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS).isNull();
}
inline ::cereal::CarParams::LateralINDITuning::Reader CarParams::LateralTuning::Reader::getIndi() const {
KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI),
inline ::cereal::CarParams::LateralINDITuning::Reader CarParams::LateralTuning::Reader::getIndiDEPRECATED() const {
KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::get(_reader.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS));
}
inline ::cereal::CarParams::LateralINDITuning::Builder CarParams::LateralTuning::Builder::getIndi() {
KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI),
inline ::cereal::CarParams::LateralINDITuning::Builder CarParams::LateralTuning::Builder::getIndiDEPRECATED() {
KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::get(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS));
}
inline void CarParams::LateralTuning::Builder::setIndi( ::cereal::CarParams::LateralINDITuning::Reader value) {
inline void CarParams::LateralTuning::Builder::setIndiDEPRECATED( ::cereal::CarParams::LateralINDITuning::Reader value) {
_builder.setDataField<CarParams::LateralTuning::Which>(
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI);
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D);
::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::set(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS), value);
}
inline ::cereal::CarParams::LateralINDITuning::Builder CarParams::LateralTuning::Builder::initIndi() {
inline ::cereal::CarParams::LateralINDITuning::Builder CarParams::LateralTuning::Builder::initIndiDEPRECATED() {
_builder.setDataField<CarParams::LateralTuning::Which>(
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI);
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D);
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::init(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS));
}
inline void CarParams::LateralTuning::Builder::adoptIndi(
inline void CarParams::LateralTuning::Builder::adoptIndiDEPRECATED(
::capnp::Orphan< ::cereal::CarParams::LateralINDITuning>&& value) {
_builder.setDataField<CarParams::LateralTuning::Which>(
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI);
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D);
::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::adopt(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::cereal::CarParams::LateralINDITuning> CarParams::LateralTuning::Builder::disownIndi() {
KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI),
inline ::capnp::Orphan< ::cereal::CarParams::LateralINDITuning> CarParams::LateralTuning::Builder::disownIndiDEPRECATED() {
KJ_IREQUIRE((which() == CarParams::LateralTuning::INDI_D_E_P_R_E_C_A_T_E_D),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralINDITuning>::disown(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS));
}
inline bool CarParams::LateralTuning::Reader::isLqr() const {
return which() == CarParams::LateralTuning::LQR;
inline bool CarParams::LateralTuning::Reader::isLqrDEPRECATED() const {
return which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D;
}
inline bool CarParams::LateralTuning::Builder::isLqr() {
return which() == CarParams::LateralTuning::LQR;
inline bool CarParams::LateralTuning::Builder::isLqrDEPRECATED() {
return which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D;
}
inline bool CarParams::LateralTuning::Reader::hasLqr() const {
if (which() != CarParams::LateralTuning::LQR) return false;
inline bool CarParams::LateralTuning::Reader::hasLqrDEPRECATED() const {
if (which() != CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D) return false;
return !_reader.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS).isNull();
}
inline bool CarParams::LateralTuning::Builder::hasLqr() {
if (which() != CarParams::LateralTuning::LQR) return false;
inline bool CarParams::LateralTuning::Builder::hasLqrDEPRECATED() {
if (which() != CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D) return false;
return !_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS).isNull();
}
inline ::cereal::CarParams::LateralLQRTuning::Reader CarParams::LateralTuning::Reader::getLqr() const {
KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR),
inline ::cereal::CarParams::LateralLQRTuning::Reader CarParams::LateralTuning::Reader::getLqrDEPRECATED() const {
KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::get(_reader.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS));
}
inline ::cereal::CarParams::LateralLQRTuning::Builder CarParams::LateralTuning::Builder::getLqr() {
KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR),
inline ::cereal::CarParams::LateralLQRTuning::Builder CarParams::LateralTuning::Builder::getLqrDEPRECATED() {
KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::get(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS));
}
inline void CarParams::LateralTuning::Builder::setLqr( ::cereal::CarParams::LateralLQRTuning::Reader value) {
inline void CarParams::LateralTuning::Builder::setLqrDEPRECATED( ::cereal::CarParams::LateralLQRTuning::Reader value) {
_builder.setDataField<CarParams::LateralTuning::Which>(
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR);
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D);
::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::set(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS), value);
}
inline ::cereal::CarParams::LateralLQRTuning::Builder CarParams::LateralTuning::Builder::initLqr() {
inline ::cereal::CarParams::LateralLQRTuning::Builder CarParams::LateralTuning::Builder::initLqrDEPRECATED() {
_builder.setDataField<CarParams::LateralTuning::Which>(
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR);
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D);
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::init(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS));
}
inline void CarParams::LateralTuning::Builder::adoptLqr(
inline void CarParams::LateralTuning::Builder::adoptLqrDEPRECATED(
::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning>&& value) {
_builder.setDataField<CarParams::LateralTuning::Which>(
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR);
::capnp::bounded<7>() * ::capnp::ELEMENTS, CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D);
::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::adopt(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning> CarParams::LateralTuning::Builder::disownLqr() {
KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR),
inline ::capnp::Orphan< ::cereal::CarParams::LateralLQRTuning> CarParams::LateralTuning::Builder::disownLqrDEPRECATED() {
KJ_IREQUIRE((which() == CarParams::LateralTuning::LQR_D_E_P_R_E_C_A_T_E_D),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralLQRTuning>::disown(_builder.getPointerField(
::capnp::bounded<9>() * ::capnp::POINTERS));
cereal/gen/cpp/log.capnp.c++
+671 -593
View File
File diff suppressed because it is too large Load Diff
cereal/gen/cpp/log.capnp.h
+270
View File
@@ -471,6 +471,8 @@ enum class Direction_eea5b9d8c9e5c192: uint16_t {
LEFT,
RIGHT,
STRAIGHT,
SLIGHT_LEFT,
SLIGHT_RIGHT,
};
CAPNP_DECLARE_ENUM(Direction, eea5b9d8c9e5c192);
CAPNP_DECLARE_SCHEMA(b66e0aa568d09c66);
@@ -2438,6 +2440,10 @@ struct Event {
LIVESTREAM_ROAD_ENCODE_DATA,
LIVESTREAM_WIDE_ROAD_ENCODE_DATA,
LIVESTREAM_DRIVER_ENCODE_DATA,
TEMPERATURE_SENSOR2,
CUSTOM_RESERVED_RAW_DATA0,
CUSTOM_RESERVED_RAW_DATA1,
CUSTOM_RESERVED_RAW_DATA2,
};
struct _capnpPrivate {
@@ -18866,6 +18872,22 @@ public:
inline bool hasLivestreamDriverEncodeData() const;
inline ::cereal::EncodeData::Reader getLivestreamDriverEncodeData() const;
inline bool isTemperatureSensor2() const;
inline bool hasTemperatureSensor2() const;
inline ::cereal::SensorEventData::Reader getTemperatureSensor2() const;
inline bool isCustomReservedRawData0() const;
inline bool hasCustomReservedRawData0() const;
inline ::capnp::Data::Reader getCustomReservedRawData0() const;
inline bool isCustomReservedRawData1() const;
inline bool hasCustomReservedRawData1() const;
inline ::capnp::Data::Reader getCustomReservedRawData1() const;
inline bool isCustomReservedRawData2() const;
inline bool hasCustomReservedRawData2() const;
inline ::capnp::Data::Reader getCustomReservedRawData2() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
@@ -19869,6 +19891,38 @@ public:
inline void adoptLivestreamDriverEncodeData(::capnp::Orphan< ::cereal::EncodeData>&& value);
inline ::capnp::Orphan< ::cereal::EncodeData> disownLivestreamDriverEncodeData();
inline bool isTemperatureSensor2();
inline bool hasTemperatureSensor2();
inline ::cereal::SensorEventData::Builder getTemperatureSensor2();
inline void setTemperatureSensor2( ::cereal::SensorEventData::Reader value);
inline ::cereal::SensorEventData::Builder initTemperatureSensor2();
inline void adoptTemperatureSensor2(::capnp::Orphan< ::cereal::SensorEventData>&& value);
inline ::capnp::Orphan< ::cereal::SensorEventData> disownTemperatureSensor2();
inline bool isCustomReservedRawData0();
inline bool hasCustomReservedRawData0();
inline ::capnp::Data::Builder getCustomReservedRawData0();
inline void setCustomReservedRawData0( ::capnp::Data::Reader value);
inline ::capnp::Data::Builder initCustomReservedRawData0(unsigned int size);
inline void adoptCustomReservedRawData0(::capnp::Orphan< ::capnp::Data>&& value);
inline ::capnp::Orphan< ::capnp::Data> disownCustomReservedRawData0();
inline bool isCustomReservedRawData1();
inline bool hasCustomReservedRawData1();
inline ::capnp::Data::Builder getCustomReservedRawData1();
inline void setCustomReservedRawData1( ::capnp::Data::Reader value);
inline ::capnp::Data::Builder initCustomReservedRawData1(unsigned int size);
inline void adoptCustomReservedRawData1(::capnp::Orphan< ::capnp::Data>&& value);
inline ::capnp::Orphan< ::capnp::Data> disownCustomReservedRawData1();
inline bool isCustomReservedRawData2();
inline bool hasCustomReservedRawData2();
inline ::capnp::Data::Builder getCustomReservedRawData2();
inline void setCustomReservedRawData2( ::capnp::Data::Reader value);
inline ::capnp::Data::Builder initCustomReservedRawData2(unsigned int size);
inline void adoptCustomReservedRawData2(::capnp::Orphan< ::capnp::Data>&& value);
inline ::capnp::Orphan< ::capnp::Data> disownCustomReservedRawData2();
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
@@ -51990,5 +52044,221 @@ inline ::capnp::Orphan< ::cereal::EncodeData> Event::Builder::disownLivestreamDr
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline bool Event::Reader::isTemperatureSensor2() const {
return which() == Event::TEMPERATURE_SENSOR2;
}
inline bool Event::Builder::isTemperatureSensor2() {
return which() == Event::TEMPERATURE_SENSOR2;
}
inline bool Event::Reader::hasTemperatureSensor2() const {
if (which() != Event::TEMPERATURE_SENSOR2) return false;
return !_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline bool Event::Builder::hasTemperatureSensor2() {
if (which() != Event::TEMPERATURE_SENSOR2) return false;
return !_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline ::cereal::SensorEventData::Reader Event::Reader::getTemperatureSensor2() const {
KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR2),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline ::cereal::SensorEventData::Builder Event::Builder::getTemperatureSensor2() {
KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR2),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::get(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline void Event::Builder::setTemperatureSensor2( ::cereal::SensorEventData::Reader value) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR2);
::capnp::_::PointerHelpers< ::cereal::SensorEventData>::set(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), value);
}
inline ::cereal::SensorEventData::Builder Event::Builder::initTemperatureSensor2() {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR2);
return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::init(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline void Event::Builder::adoptTemperatureSensor2(
::capnp::Orphan< ::cereal::SensorEventData>&& value) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::TEMPERATURE_SENSOR2);
::capnp::_::PointerHelpers< ::cereal::SensorEventData>::adopt(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::cereal::SensorEventData> Event::Builder::disownTemperatureSensor2() {
KJ_IREQUIRE((which() == Event::TEMPERATURE_SENSOR2),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::SensorEventData>::disown(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline bool Event::Reader::isCustomReservedRawData0() const {
return which() == Event::CUSTOM_RESERVED_RAW_DATA0;
}
inline bool Event::Builder::isCustomReservedRawData0() {
return which() == Event::CUSTOM_RESERVED_RAW_DATA0;
}
inline bool Event::Reader::hasCustomReservedRawData0() const {
if (which() != Event::CUSTOM_RESERVED_RAW_DATA0) return false;
return !_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline bool Event::Builder::hasCustomReservedRawData0() {
if (which() != Event::CUSTOM_RESERVED_RAW_DATA0) return false;
return !_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline ::capnp::Data::Reader Event::Reader::getCustomReservedRawData0() const {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA0),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline ::capnp::Data::Builder Event::Builder::getCustomReservedRawData0() {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA0),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline void Event::Builder::setCustomReservedRawData0( ::capnp::Data::Reader value) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA0);
::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), value);
}
inline ::capnp::Data::Builder Event::Builder::initCustomReservedRawData0(unsigned int size) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA0);
return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), size);
}
inline void Event::Builder::adoptCustomReservedRawData0(
::capnp::Orphan< ::capnp::Data>&& value) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA0);
::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownCustomReservedRawData0() {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA0),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline bool Event::Reader::isCustomReservedRawData1() const {
return which() == Event::CUSTOM_RESERVED_RAW_DATA1;
}
inline bool Event::Builder::isCustomReservedRawData1() {
return which() == Event::CUSTOM_RESERVED_RAW_DATA1;
}
inline bool Event::Reader::hasCustomReservedRawData1() const {
if (which() != Event::CUSTOM_RESERVED_RAW_DATA1) return false;
return !_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline bool Event::Builder::hasCustomReservedRawData1() {
if (which() != Event::CUSTOM_RESERVED_RAW_DATA1) return false;
return !_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline ::capnp::Data::Reader Event::Reader::getCustomReservedRawData1() const {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA1),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline ::capnp::Data::Builder Event::Builder::getCustomReservedRawData1() {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA1),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline void Event::Builder::setCustomReservedRawData1( ::capnp::Data::Reader value) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA1);
::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), value);
}
inline ::capnp::Data::Builder Event::Builder::initCustomReservedRawData1(unsigned int size) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA1);
return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), size);
}
inline void Event::Builder::adoptCustomReservedRawData1(
::capnp::Orphan< ::capnp::Data>&& value) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA1);
::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownCustomReservedRawData1() {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA1),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline bool Event::Reader::isCustomReservedRawData2() const {
return which() == Event::CUSTOM_RESERVED_RAW_DATA2;
}
inline bool Event::Builder::isCustomReservedRawData2() {
return which() == Event::CUSTOM_RESERVED_RAW_DATA2;
}
inline bool Event::Reader::hasCustomReservedRawData2() const {
if (which() != Event::CUSTOM_RESERVED_RAW_DATA2) return false;
return !_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline bool Event::Builder::hasCustomReservedRawData2() {
if (which() != Event::CUSTOM_RESERVED_RAW_DATA2) return false;
return !_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
}
inline ::capnp::Data::Reader Event::Reader::getCustomReservedRawData2() const {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA2),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline ::capnp::Data::Builder Event::Builder::getCustomReservedRawData2() {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA2),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::get(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline void Event::Builder::setCustomReservedRawData2( ::capnp::Data::Reader value) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA2);
::capnp::_::PointerHelpers< ::capnp::Data>::set(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), value);
}
inline ::capnp::Data::Builder Event::Builder::initCustomReservedRawData2(unsigned int size) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA2);
return ::capnp::_::PointerHelpers< ::capnp::Data>::init(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), size);
}
inline void Event::Builder::adoptCustomReservedRawData2(
::capnp::Orphan< ::capnp::Data>&& value) {
_builder.setDataField<Event::Which>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CUSTOM_RESERVED_RAW_DATA2);
::capnp::_::PointerHelpers< ::capnp::Data>::adopt(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownCustomReservedRawData2() {
KJ_IREQUIRE((which() == Event::CUSTOM_RESERVED_RAW_DATA2),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::capnp::Data>::disown(_builder.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS));
}
} // namespace
cereal/libcereal_shared.so
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cereal/log.capnp
+7
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@@ -2096,6 +2096,8 @@ struct NavInstruction {
left @1;
right @2;
straight @3;
slightLeft @4;
slightRight @5;
}
enum SpeedLimitSign {
@@ -2186,6 +2188,7 @@ struct Event {
magnetometer @95 :SensorEventData;
lightSensor @96 :SensorEventData;
temperatureSensor @97 :SensorEventData;
temperatureSensor2 @123 :SensorEventData;
pandaStates @81 :List(PandaState);
peripheralState @80 :PeripheralState;
radarState @13 :RadarState;
@@ -2262,6 +2265,10 @@ struct Event {
livestreamWideRoadEncodeData @121 :EncodeData;
livestreamDriverEncodeData @122 :EncodeData;
customReservedRawData0 @124 :Data;
customReservedRawData1 @125 :Data;
customReservedRawData2 @126 :Data;
# *********** Custom: reserved for forks ***********
liveMapData @107 :Custom.LiveMapData;
longitudinalPlanExt @108 :Custom.LongitudinalPlanExt;
cereal/messaging/__init__.py
+5 -13
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@@ -11,7 +11,7 @@ from typing import Optional, List, Union, Dict, Deque
from collections import deque
from cereal import log
from cereal.services import service_list
from cereal.services import SERVICE_LIST
assert MultiplePublishersError
assert MessagingError
@@ -24,13 +24,6 @@ assert wait_for_one_event
NO_TRAVERSAL_LIMIT = 2**64-1
AVG_FREQ_HISTORY = 100
# sec_since_boot is faster, but allow to run standalone too
try:
from common.realtime import sec_since_boot
except ImportError:
sec_since_boot = time.time
print("Warning, using python time.time() instead of faster sec_since_boot")
context = Context()
@@ -50,7 +43,7 @@ def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
dat = log.Event.new_message()
dat.logMonoTime = int(sec_since_boot() * 1e9)
dat.logMonoTime = int(time.monotonic() * 1e9)
dat.valid = True
if service is not None:
if size is None:
@@ -187,7 +180,7 @@ class SubMaster:
if addr is not None:
p = self.poller if s not in self.non_polled_services else None
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
self.freq[s] = service_list[s].frequency
self.freq[s] = SERVICE_LIST[s].frequency
try:
data = new_message(s)
@@ -213,7 +206,7 @@ class SubMaster:
# non-blocking receive for non-polled sockets
for s in self.non_polled_services:
msgs.append(recv_one_or_none(self.sock[s]))
self.update_msgs(sec_since_boot(), msgs)
self.update_msgs(time.monotonic(), msgs)
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
self.frame += 1
@@ -294,8 +287,7 @@ 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
def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
for _ in range(int(timeout*(1./dt))):
if self.sock[s].all_readers_updated():
return True
cereal/messaging/bridge
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cereal/messaging/impl_fake.h
+1 -1
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@@ -63,5 +63,5 @@ private:
public:
void registerSocket(SubSocket *socket) override;
std::vector<SubSocket*> poll(int timeout) override;
~FakePoller() {};
~FakePoller() {}
};
cereal/messaging/impl_msgq.h
+1 -1
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@@ -63,5 +63,5 @@ private:
public:
void registerSocket(SubSocket *socket);
std::vector<SubSocket*> poll(int timeout);
~MSGQPoller(){};
~MSGQPoller(){}
};
cereal/messaging/impl_zmq.h
+1 -1
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@@ -63,5 +63,5 @@ private:
public:
void registerSocket(SubSocket *socket);
std::vector<SubSocket*> poll(int timeout);
~ZMQPoller(){};
~ZMQPoller(){}
};
cereal/messaging/messaging.h
+4 -4
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@@ -33,7 +33,7 @@ public:
virtual void close() = 0;
virtual size_t getSize() = 0;
virtual char * getData() = 0;
virtual ~Message(){};
virtual ~Message(){}
};
@@ -45,7 +45,7 @@ public:
virtual void * getRawSocket() = 0;
static SubSocket * create();
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
virtual ~SubSocket(){};
virtual ~SubSocket(){}
};
class PubSocket {
@@ -57,7 +57,7 @@ public:
static PubSocket * create();
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
virtual ~PubSocket(){};
virtual ~PubSocket(){}
};
class Poller {
@@ -66,7 +66,7 @@ public:
virtual std::vector<SubSocket*> poll(int timeout) = 0;
static Poller * create();
static Poller * create(std::vector<SubSocket*> sockets);
virtual ~Poller(){};
virtual ~Poller(){}
};
class SubMaster {
cereal/messaging/messaging_pyx.cpp
+1 -1
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@@ -10,7 +10,7 @@
"language": "c++",
"name": "cereal.messaging.messaging_pyx",
"sources": [
"/data/openpilot/cereal/messaging/messaging_pyx.pyx"
"/data/dp-private/cereal/messaging/messaging_pyx.pyx"
]
},
"module_name": "cereal.messaging.messaging_pyx"
cereal/messaging/messaging_pyx.so
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cereal/services.h
+83 -77
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@@ -1,83 +1,89 @@
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
#ifndef __SERVICES_H
#define __SERVICES_H
struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
static struct service services[] = {
{ "gyroscope", 8001, true, 104, 104 },
{ "gyroscope2", 8002, true, 100, 100 },
{ "accelerometer", 8003, true, 104, 104 },
{ "accelerometer2", 8004, true, 100, 100 },
{ "magnetometer", 8005, true, 100, 100 },
{ "lightSensor", 8006, true, 100, 100 },
{ "temperatureSensor", 8007, true, 100, 100 },
{ "gpsNMEA", 8008, true, 9, -1 },
{ "deviceState", 8009, true, 2, 1 },
{ "can", 8010, true, 100, 1223 },
{ "controlsState", 8011, true, 100, 10 },
{ "pandaStates", 8012, true, 2, 1 },
{ "peripheralState", 8013, true, 2, 1 },
{ "radarState", 8014, true, 20, 5 },
{ "roadEncodeIdx", 8015, false, 20, 1 },
{ "liveTracks", 8016, true, 20, -1 },
{ "sendcan", 8017, true, 100, 139 },
{ "logMessage", 8018, true, 0, -1 },
{ "errorLogMessage", 8019, true, 0, 1 },
{ "liveCalibration", 8020, true, 4, 4 },
{ "liveTorqueParameters", 8021, true, 4, 1 },
{ "androidLog", 8023, true, 0, -1 },
{ "carState", 8024, true, 100, 10 },
{ "carControl", 8025, true, 100, 10 },
{ "longitudinalPlan", 8026, true, 20, 5 },
{ "procLog", 8027, true, 0, 15 },
{ "gpsLocationExternal", 8028, true, 10, 10 },
{ "gpsLocation", 8029, true, 1, 1 },
{ "ubloxGnss", 8030, true, 10, -1 },
{ "qcomGnss", 8031, true, 2, -1 },
{ "gnssMeasurements", 8032, true, 10, 10 },
{ "clocks", 8033, true, 1, 1 },
{ "ubloxRaw", 8034, true, 20, -1 },
{ "liveLocationKalman", 8035, true, 20, 5 },
{ "liveParameters", 8036, true, 20, 5 },
{ "cameraOdometry", 8037, true, 20, 5 },
{ "lateralPlan", 8038, true, 20, 5 },
{ "thumbnail", 8039, true, 0, 1 },
{ "carEvents", 8040, true, 1, 1 },
{ "carParams", 8041, true, 0, 1 },
{ "roadCameraState", 8042, true, 20, 20 },
{ "driverCameraState", 8043, true, 20, 20 },
{ "driverEncodeIdx", 8044, false, 20, 1 },
{ "driverStateV2", 8045, true, 20, 10 },
{ "driverMonitoringState", 8046, true, 20, 10 },
{ "wideRoadEncodeIdx", 8047, false, 20, 1 },
{ "wideRoadCameraState", 8048, true, 20, 20 },
{ "modelV2", 8049, true, 20, 40 },
{ "managerState", 8050, true, 2, 1 },
{ "uploaderState", 8051, true, 0, 1 },
{ "navInstruction", 8052, true, 1, 10 },
{ "navRoute", 8053, true, 0, -1 },
{ "navThumbnail", 8054, true, 0, -1 },
{ "navModel", 8055, true, 2, 4 },
{ "mapRenderState", 8056, true, 2, 1 },
{ "uiPlan", 8057, true, 20, 40 },
{ "qRoadEncodeIdx", 8058, false, 20, -1 },
{ "userFlag", 8059, true, 0, 1 },
{ "microphone", 8060, true, 10, 10 },
{ "uiDebug", 8061, true, 0, 1 },
{ "testJoystick", 8062, true, 0, -1 },
{ "roadEncodeData", 8063, false, 20, -1 },
{ "driverEncodeData", 8064, false, 20, -1 },
{ "wideRoadEncodeData", 8065, false, 20, -1 },
{ "qRoadEncodeData", 8066, false, 20, -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 },
{ "liveMapData", 8073, false, 0, -1 },
{ "longitudinalPlanExt", 8074, false, 20, 5 },
{ "lateralPlanExt", 8075, false, 20, 5 },
{ "controlsStateExt", 8076, false, 100, 10 },
#include <map>
#include <string>
struct service { std::string name; int port; bool should_log; int frequency; int decimation; };
static std::map<std::string, service> services = {
{ "gyroscope", {"gyroscope", 8001, true, 104, 104}},
{ "gyroscope2", {"gyroscope2", 8002, true, 100, 100}},
{ "accelerometer", {"accelerometer", 8003, true, 104, 104}},
{ "accelerometer2", {"accelerometer2", 8004, true, 100, 100}},
{ "magnetometer", {"magnetometer", 8005, true, 25, 25}},
{ "lightSensor", {"lightSensor", 8006, true, 100, 100}},
{ "temperatureSensor", {"temperatureSensor", 8007, true, 2, 200}},
{ "temperatureSensor2", {"temperatureSensor2", 8008, true, 2, 200}},
{ "gpsNMEA", {"gpsNMEA", 8009, true, 9, -1}},
{ "deviceState", {"deviceState", 8010, true, 2, 1}},
{ "can", {"can", 8011, true, 100, 1223}},
{ "controlsState", {"controlsState", 8012, true, 100, 10}},
{ "pandaStates", {"pandaStates", 8013, true, 10, 1}},
{ "peripheralState", {"peripheralState", 8014, true, 2, 1}},
{ "radarState", {"radarState", 8015, true, 20, 5}},
{ "roadEncodeIdx", {"roadEncodeIdx", 8016, false, 20, 1}},
{ "liveTracks", {"liveTracks", 8017, true, 20, -1}},
{ "sendcan", {"sendcan", 8018, true, 100, 139}},
{ "logMessage", {"logMessage", 8019, true, 0, -1}},
{ "errorLogMessage", {"errorLogMessage", 8020, true, 0, 1}},
{ "liveCalibration", {"liveCalibration", 8021, true, 4, 4}},
{ "liveTorqueParameters", {"liveTorqueParameters", 8023, true, 4, 1}},
{ "androidLog", {"androidLog", 8024, true, 0, -1}},
{ "carState", {"carState", 8025, true, 100, 10}},
{ "carControl", {"carControl", 8026, true, 100, 10}},
{ "longitudinalPlan", {"longitudinalPlan", 8027, true, 20, 5}},
{ "procLog", {"procLog", 8028, true, 0, 15}},
{ "gpsLocationExternal", {"gpsLocationExternal", 8029, true, 10, 10}},
{ "gpsLocation", {"gpsLocation", 8030, true, 1, 1}},
{ "ubloxGnss", {"ubloxGnss", 8031, true, 10, -1}},
{ "qcomGnss", {"qcomGnss", 8032, true, 2, -1}},
{ "gnssMeasurements", {"gnssMeasurements", 8033, true, 10, 10}},
{ "clocks", {"clocks", 8034, true, 1, 1}},
{ "ubloxRaw", {"ubloxRaw", 8035, true, 20, -1}},
{ "liveLocationKalman", {"liveLocationKalman", 8036, true, 20, 5}},
{ "liveParameters", {"liveParameters", 8037, true, 20, 5}},
{ "cameraOdometry", {"cameraOdometry", 8038, true, 20, 5}},
{ "lateralPlan", {"lateralPlan", 8039, true, 20, 5}},
{ "thumbnail", {"thumbnail", 8040, true, 0, 1}},
{ "carEvents", {"carEvents", 8041, true, 1, 1}},
{ "carParams", {"carParams", 8042, true, 0, 1}},
{ "roadCameraState", {"roadCameraState", 8043, true, 20, 20}},
{ "driverCameraState", {"driverCameraState", 8044, true, 20, 20}},
{ "driverEncodeIdx", {"driverEncodeIdx", 8045, false, 20, 1}},
{ "driverStateV2", {"driverStateV2", 8046, true, 20, 10}},
{ "driverMonitoringState", {"driverMonitoringState", 8047, true, 20, 10}},
{ "wideRoadEncodeIdx", {"wideRoadEncodeIdx", 8048, false, 20, 1}},
{ "wideRoadCameraState", {"wideRoadCameraState", 8049, true, 20, 20}},
{ "modelV2", {"modelV2", 8050, true, 20, 40}},
{ "managerState", {"managerState", 8051, true, 2, 1}},
{ "uploaderState", {"uploaderState", 8052, true, 0, 1}},
{ "navInstruction", {"navInstruction", 8053, true, 1, 10}},
{ "navRoute", {"navRoute", 8054, true, 0, -1}},
{ "navThumbnail", {"navThumbnail", 8055, true, 0, -1}},
{ "navModel", {"navModel", 8056, true, 2, 4}},
{ "mapRenderState", {"mapRenderState", 8057, true, 2, 1}},
{ "uiPlan", {"uiPlan", 8058, true, 20, 40}},
{ "qRoadEncodeIdx", {"qRoadEncodeIdx", 8059, false, 20, -1}},
{ "userFlag", {"userFlag", 8060, true, 0, 1}},
{ "microphone", {"microphone", 8061, true, 10, 10}},
{ "uiDebug", {"uiDebug", 8062, true, 0, 1}},
{ "testJoystick", {"testJoystick", 8063, true, 0, -1}},
{ "roadEncodeData", {"roadEncodeData", 8064, false, 20, -1}},
{ "driverEncodeData", {"driverEncodeData", 8065, false, 20, -1}},
{ "wideRoadEncodeData", {"wideRoadEncodeData", 8066, false, 20, -1}},
{ "qRoadEncodeData", {"qRoadEncodeData", 8067, false, 20, -1}},
{ "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", 8068, false, 20, -1}},
{ "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", 8069, false, 20, -1}},
{ "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", 8070, false, 20, -1}},
{ "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", 8071, false, 20, -1}},
{ "livestreamRoadEncodeData", {"livestreamRoadEncodeData", 8072, false, 20, -1}},
{ "livestreamDriverEncodeData", {"livestreamDriverEncodeData", 8073, false, 20, -1}},
{ "customReservedRawData0", {"customReservedRawData0", 8074, true, 0, -1}},
{ "customReservedRawData1", {"customReservedRawData1", 8075, true, 0, -1}},
{ "customReservedRawData2", {"customReservedRawData2", 8076, true, 0, -1}},
{ "liveMapData", {"liveMapData", 8077, false, 0, -1}},
{ "longitudinalPlanExt", {"longitudinalPlanExt", 8078, false, 20, 5}},
{ "lateralPlanExt", {"lateralPlanExt", 8079, false, 20, 5}},
{ "controlsStateExt", {"controlsStateExt", 8080, false, 100, 10}},
};
#endif
cereal/services.py
+19 -10
View File
@@ -18,21 +18,22 @@ class Service:
self.decimation = decimation
services = {
services: dict[str, tuple] = {
# service: (should_log, frequency, qlog decimation (optional))
# note: the "EncodeIdx" packets will still be in the log
"gyroscope": (True, 104., 104),
"gyroscope2": (True, 100., 100),
"accelerometer": (True, 104., 104),
"accelerometer2": (True, 100., 100),
"magnetometer": (True, 100., 100),
"magnetometer": (True, 25., 25),
"lightSensor": (True, 100., 100),
"temperatureSensor": (True, 100., 100),
"temperatureSensor": (True, 2., 200),
"temperatureSensor2": (True, 2., 200),
"gpsNMEA": (True, 9.),
"deviceState": (True, 2., 1),
"can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment
"controlsState": (True, 100., 10),
"pandaStates": (True, 2., 1),
"pandaStates": (True, 10., 1),
"peripheralState": (True, 2., 1),
"radarState": (True, 20., 5),
"roadEncodeIdx": (False, 20., 1),
@@ -94,6 +95,9 @@ services = {
"livestreamWideRoadEncodeData": (False, 20.),
"livestreamRoadEncodeData": (False, 20.),
"livestreamDriverEncodeData": (False, 20.),
"customReservedRawData0": (True, 0.),
"customReservedRawData1": (True, 0.),
"customReservedRawData2": (True, 0.),
# mapd
"liveMapData": (False, 0.),
@@ -101,7 +105,7 @@ services = {
"lateralPlanExt": (False, 20., 5),
"controlsStateExt": (False, 100., 10),
}
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
SERVICE_LIST = {name: Service(new_port(idx), *vals) for
idx, (name, vals) in enumerate(services.items())}
@@ -110,14 +114,19 @@ def build_header():
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
h += "#ifndef __SERVICES_H\n"
h += "#define __SERVICES_H\n"
h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
h += "static struct service services[] = {\n"
for k, v in service_list.items():
h += "#include <map>\n"
h += "#include <string>\n"
h += "struct service { std::string name; int port; bool should_log; int frequency; int decimation; };\n"
h += "static std::map<std::string, service> services = {\n"
for k, v in SERVICE_LIST.items():
should_log = "true" if v.should_log else "false"
decimation = -1 if v.decimation is None else v.decimation
h += ' { "%s", %d, %s, %d, %d },\n' % \
(k, v.port, should_log, v.frequency, decimation)
h += ' { "%s", {"%s", %d, %s, %d, %d}},\n' % \
(k, k, v.port, should_log, v.frequency, decimation)
h += "};\n"
h += "#endif\n"
return h
cereal/visionipc/visionipc_pyx.cpp
+1 -1
View File
@@ -12,7 +12,7 @@
"language": "c++",
"name": "cereal.visionipc.visionipc_pyx",
"sources": [
"/data/openpilot/cereal/visionipc/visionipc_pyx.pyx"
"/data/dp-private/cereal/visionipc/visionipc_pyx.pyx"
]
},
"module_name": "cereal.visionipc.visionipc_pyx"
cereal/visionipc/visionipc_pyx.so
BIN
View File
Binary file not shown.
common/api/__init__.py
+2 -2
View File
@@ -2,8 +2,8 @@ import jwt
import os
import requests
from datetime import datetime, timedelta
from common.basedir import PERSIST
from system.version import get_version
from openpilot.common.basedir import PERSIST
from openpilot.system.version import get_version
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
common/basedir.py
+1 -1
View File
@@ -1,7 +1,7 @@
import os
from pathlib import Path
from system.hardware import PC
from openpilot.system.hardware import PC
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
common/clock.cpp
-5531
View File
File diff suppressed because it is too large Load Diff
common/clock.pyx
-24
View File
@@ -1,24 +0,0 @@
# distutils: language = c++
# cython: language_level = 3
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
IF UNAME_SYSNAME == "Darwin":
# Darwin doesn't have a CLOCK_BOOTTIME
CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
ELSE:
from posix.time cimport CLOCK_BOOTTIME
cdef double readclock(clockid_t clock_id):
cdef timespec ts
cdef double current
clock_gettime(clock_id, &ts)
current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
return current
def monotonic_time():
return readclock(CLOCK_MONOTONIC_RAW)
def sec_since_boot():
return readclock(CLOCK_BOOTTIME)
common/clock.so
BIN
View File
Binary file not shown.
common/clutil.h
+1
View File
@@ -22,6 +22,7 @@
})
cl_device_id cl_get_device_id(cl_device_type device_type);
cl_context cl_create_context(cl_device_id device_id);
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
common/gpio.h
+2 -2
View File
@@ -5,7 +5,7 @@
#define GPIO_HUB_RST_N 30
#define GPIO_UBLOX_RST_N 32
#define GPIO_UBLOX_SAFEBOOT_N 33
#define GPIO_UBLOX_PWR_EN 34
#define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
#define GPIO_STM_RST_N 124
#define GPIO_STM_BOOT0 134
#define GPIO_BMX_ACCEL_INT 21
@@ -17,7 +17,7 @@
#define GPIO_HUB_RST_N 0
#define GPIO_UBLOX_RST_N 0
#define GPIO_UBLOX_SAFEBOOT_N 0
#define GPIO_UBLOX_PWR_EN 0
#define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
#define GPIO_STM_RST_N 0
#define GPIO_STM_BOOT0 0
#define GPIO_BMX_ACCEL_INT 0
common/gpio.py
+4
View File
@@ -1,3 +1,4 @@
import os
from functools import lru_cache
from typing import Optional, List
@@ -26,6 +27,9 @@ def gpio_read(pin: int) -> Optional[bool]:
return val
def gpio_export(pin: int) -> None:
if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
return
try:
with open("/sys/class/gpio/export", 'w') as f:
f.write(str(pin))
common/i18n.py
+1 -1
View File
@@ -1,5 +1,5 @@
import gettext
from common.params import Params
from openpilot.common.params import Params
locale_dir = "/data/openpilot/selfdrive/assets/locales"
# supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
common/i2c.h
+2
View File
@@ -1,12 +1,14 @@
#pragma once
#include <cstdint>
#include <mutex>
#include <sys/types.h>
class I2CBus {
private:
int i2c_fd;
std::mutex m;
public:
I2CBus(uint8_t bus_id);
common/kalman/simple_kalman.py
+11 -2
View File
@@ -1,3 +1,12 @@
# pylint: skip-file
from common.kalman.simple_kalman_impl import KF1D as KF1D
from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D
assert KF1D
import numpy as np
def get_kalman_gain(dt, A, C, Q, R, iterations=100):
P = np.zeros_like(Q)
for _ in range(iterations):
P = A.dot(P).dot(A.T) + dt * Q
S = C.dot(P).dot(C.T) + R
K = P.dot(C.T).dot(np.linalg.inv(S))
P = (np.eye(len(P)) - K.dot(C)).dot(P)
return K
common/kalman/tests/test_simple_kalman.py
+4 -4
View File
@@ -3,8 +3,8 @@ import random
import timeit
import numpy as np
from common.kalman.simple_kalman import KF1D
from common.kalman.simple_kalman_old import KF1D as KF1D_old
from openpilot.common.kalman.simple_kalman import KF1D
from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
class TestSimpleKalman(unittest.TestCase):
@@ -54,8 +54,8 @@ class TestSimpleKalman(unittest.TestCase):
setup = """
import numpy as np
from common.kalman.simple_kalman import KF1D
from common.kalman.simple_kalman_old import KF1D as KF1D_old
from openpilot.common.kalman.simple_kalman import KF1D
from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
dt = 0.01
x0_0 = 0.0
common/logging_extra.py
+1 -1
View File
@@ -197,7 +197,7 @@ class SwagLogger(logging.Logger):
filename = os.path.normcase(co.co_filename)
# TODO: is this pylint exception correct?
if filename == _srcfile: # pylint: disable=comparison-with-callable
if filename == _srcfile:
f = f.f_back
continue
sinfo = None
common/mat.h
+2 -2
View File
@@ -1,7 +1,7 @@
#pragma once
typedef struct vec3 {
float v[3];
float v[3];
} vec3;
typedef struct vec4 {
@@ -9,7 +9,7 @@ typedef struct vec4 {
} vec4;
typedef struct mat3 {
float v[3*3];
float v[3*3];
} mat3;
typedef struct mat4 {
common/params.h
+5 -1
View File
@@ -15,7 +15,11 @@ enum ParamKeyType {
class Params {
public:
Params(const std::string &path = {});
explicit Params(const std::string &path = {});
// Not copyable.
Params(const Params&) = delete;
Params& operator=(const Params&) = delete;
std::vector<std::string> allKeys() const;
bool checkKey(const std::string &key);
ParamKeyType getKeyType(const std::string &key);
common/params.py
+2 -1
View File
@@ -1,4 +1,5 @@
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \
put_bool_nonblocking
assert Params
assert ParamKeyType
assert UnknownKeyName
common/params_pyx.cpp
+35 -15
View File
@@ -2132,20 +2132,6 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object);
static void __Pyx_AddTraceback(const char *funcname, int c_line,
int py_line, const char *filename);
/* GCCDiagnostics.proto */
#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
#define __Pyx_HAS_GCC_DIAGNOSTIC
#endif
/* CIntFromPy.proto */
static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *);
/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value);
/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value);
/* CppExceptionConversion.proto */
#ifndef __Pyx_CppExn2PyErr
#include <new>
@@ -2188,6 +2174,20 @@ static void __Pyx_CppExn2PyErr() {
}
#endif
/* GCCDiagnostics.proto */
#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
#define __Pyx_HAS_GCC_DIAGNOSTIC
#endif
/* CIntFromPy.proto */
static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *);
/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value);
/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value);
/* CIntFromPy.proto */
static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *);
@@ -6738,6 +6738,7 @@ static int __pyx_pf_6common_10params_pyx_6Params___cinit__(struct __pyx_obj_6com
PyObject *__pyx_t_3 = NULL;
int __pyx_t_4;
std::string __pyx_t_5;
Params *__pyx_t_6;
int __pyx_lineno = 0;
const char *__pyx_filename = NULL;
int __pyx_clineno = 0;
@@ -6799,7 +6800,19 @@ static int __pyx_pf_6common_10params_pyx_6Params___cinit__(struct __pyx_obj_6com
*
* def __dealloc__(self):
*/
__pyx_v_self->p = new Params(__pyx_v_path);
try {
__pyx_t_6 = new Params(__pyx_v_path);
} catch(...) {
#ifdef WITH_THREAD
PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure();
#endif
__Pyx_CppExn2PyErr();
#ifdef WITH_THREAD
__Pyx_PyGILState_Release(__pyx_gilstate_save);
#endif
__PYX_ERR(0, 41, __pyx_L4_error)
}
__pyx_v_self->p = __pyx_t_6;
}
/* "common/params_pyx.pyx":40
@@ -6817,6 +6830,13 @@ static int __pyx_pf_6common_10params_pyx_6Params___cinit__(struct __pyx_obj_6com
#endif
goto __pyx_L5;
}
__pyx_L4_error: {
#ifdef WITH_THREAD
__Pyx_FastGIL_Forget();
Py_BLOCK_THREADS
#endif
goto __pyx_L1_error;
}
__pyx_L5:;
}
}
common/params_pyx.pyx
Executable → Regular
+1 -1
View File
@@ -14,7 +14,7 @@ cdef extern from "common/params.h":
ALL
cdef cppclass c_Params "Params":
c_Params(string) nogil
c_Params(string) except + nogil
string get(string, bool) nogil
bool getBool(string, bool) nogil
int remove(string) nogil
common/params_pyx.so
BIN
View File
Binary file not shown.
common/ratekeeper.h
+23
View File
@@ -0,0 +1,23 @@
#pragma once
#include <cstdint>
#include <string>
class RateKeeper {
public:
RateKeeper(const std::string &name, float rate, float print_delay_threshold = 0);
~RateKeeper() {}
bool keepTime();
bool monitorTime();
inline double frame() const { return frame_; }
inline double remaining() const { return remaining_; }
private:
double interval;
double next_frame_time;
double last_monitor_time;
double remaining_ = 0;
float print_delay_threshold = 0;
uint64_t frame_ = 0;
std::string name;
};
common/realtime.py
+8 -9
View File
@@ -5,10 +5,9 @@ import time
from collections import deque
from typing import Optional, List, Union
from setproctitle import getproctitle # pylint: disable=no-name-in-module
from setproctitle import getproctitle
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
from system.hardware import PC
from openpilot.system.hardware import PC
# time step for each process
@@ -31,12 +30,12 @@ class Priority:
def set_realtime_priority(level: int) -> None:
if not PC:
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # pylint: disable=no-member
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
def set_core_affinity(cores: List[int]) -> None:
if not PC:
os.sched_setaffinity(0, cores) # pylint: disable=no-member
os.sched_setaffinity(0, cores)
def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
@@ -50,13 +49,13 @@ class Ratekeeper:
def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
self._interval = 1. / rate
self._next_frame_time = sec_since_boot() + self._interval
self._next_frame_time = time.monotonic() + self._interval
self._print_delay_threshold = print_delay_threshold
self._frame = 0
self._remaining = 0.0
self._process_name = getproctitle()
self._dts = deque([self._interval], maxlen=100)
self._last_monitor_time = sec_since_boot()
self._last_monitor_time = time.monotonic()
@property
def frame(self) -> int:
@@ -82,11 +81,11 @@ class Ratekeeper:
# this only monitor the cumulative lag, but does not enforce a rate
def monitor_time(self) -> bool:
prev = self._last_monitor_time
self._last_monitor_time = sec_since_boot()
self._last_monitor_time = time.monotonic()
self._dts.append(self._last_monitor_time - prev)
lagged = False
remaining = self._next_frame_time - sec_since_boot()
remaining = self._next_frame_time - time.monotonic()
self._next_frame_time += self._interval
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
common/spinner.py
+1 -1
View File
@@ -1,6 +1,6 @@
import os
import subprocess
from common.basedir import BASEDIR
from openpilot.common.basedir import BASEDIR
class Spinner():
common/swaglog.h
+1 -1
View File
@@ -44,7 +44,7 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
int __millis = (millis); \
uint64_t __ts = nanos_since_boot(); \
\
if (!__begin) __begin = __ts; \
if (!__begin) { __begin = __ts; } \
\
if (__begin + __millis*1000000ULL < __ts) { \
if (__missed) { \
common/text_window.py
+1 -1
View File
@@ -2,7 +2,7 @@
import os
import time
import subprocess
from common.basedir import BASEDIR
from openpilot.common.basedir import BASEDIR
class TextWindow:
common/transformations/camera.py
+1 -1
View File
@@ -1,6 +1,6 @@
import numpy as np
import common.transformations.orientation as orient
import openpilot.common.transformations.orientation as orient
## -- hardcoded hardware params --
eon_f_focal_length = 910.0
common/transformations/coordinates.hpp
+2
View File
@@ -1,5 +1,7 @@
#pragma once
#include <eigen3/Eigen/Dense>
#define DEG2RAD(x) ((x) * M_PI / 180.0)
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
common/transformations/coordinates.py
+3 -4
View File
@@ -1,8 +1,7 @@
# pylint: skip-file
from common.transformations.orientation import numpy_wrap
from common.transformations.transformations import (ecef2geodetic_single,
from openpilot.common.transformations.orientation import numpy_wrap
from openpilot.common.transformations.transformations import (ecef2geodetic_single,
geodetic2ecef_single)
from common.transformations.transformations import LocalCoord as LocalCoord_single
from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single
class LocalCoord(LocalCoord_single):
common/transformations/model.py
+16 -55
View File
@@ -1,7 +1,9 @@
import numpy as np
from common.transformations.camera import (FULL_FRAME_SIZE,
get_view_frame_from_calib_frame)
from openpilot.common.transformations.orientation import rot_from_euler
from openpilot.common.transformations.camera import (
FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
# segnet
SEGNET_SIZE = (512, 384)
@@ -57,61 +59,20 @@ medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
### This function mimics the update_calibration logic in modeld.cc
### Manually verified to give similar results to xx.uncommon.utils.transform_img
def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
from common.transformations.orientation import rot_from_euler
from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
if tici and wide_cam:
intrinsics = tici_ecam_intrinsics
# This function is verified to give similar results to xx.uncommon.utils.transform_img
def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
if tici and wide_camera:
cam_intrinsics = tici_ecam_intrinsics
elif tici:
intrinsics = tici_fcam_intrinsics
cam_intrinsics = tici_fcam_intrinsics
else:
intrinsics = eon_fcam_intrinsics
cam_intrinsics = eon_fcam_intrinsics
if big_model:
sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
calib_from_model = np.linalg.inv(sbigmodel_from_calib)
else:
medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
calib_from_model = np.linalg.inv(medmodel_from_calib)
device_from_calib = rot_from_euler(rpy_calib)
camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
warp_matrix = camera_from_calib.dot(calib_from_model)
return warp_matrix
### This is old, just for debugging
def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
from common.transformations.orientation import rot_from_euler
from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
view_from_road = view_frame_from_device_frame.dot(device_from_road)
return np.hstack((view_from_road, [[0], [height], [0]]))
if tici and wide_cam:
intrinsics = tici_ecam_intrinsics
elif tici:
intrinsics = tici_fcam_intrinsics
else:
intrinsics = eon_fcam_intrinsics
model_height = 1.22
if big_model:
model_from_road = np.dot(sbigmodel_intrinsics,
get_view_frame_from_road_frame(0, 0, 0, model_height))
else:
model_from_road = np.dot(medmodel_intrinsics,
get_view_frame_from_road_frame(0, 0, 0, model_height))
ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
camera_frame_from_road_frame = intrinsics.dot(E)
camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
warp_matrix = camera_frame_from_ground .dot(ground_from_model)
calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
device_from_calib = rot_from_euler(device_from_calib_euler)
camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
return warp_matrix
common/transformations/orientation.hpp
+1 -1
View File
@@ -1,6 +1,6 @@
#pragma once
#include <eigen3/Eigen/Dense>
#include "coordinates.hpp"
#include "common/transformations/coordinates.hpp"
Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
common/transformations/orientation.py
+1 -2
View File
@@ -1,8 +1,7 @@
# pylint: skip-file
import numpy as np
from typing import Callable
from common.transformations.transformations import (ecef_euler_from_ned_single,
from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single,
euler2quat_single,
euler2rot_single,
ned_euler_from_ecef_single,
common/transformations/transformations.cpp
+15 -4
View File
@@ -7,15 +7,20 @@
"common/transformations/coordinates.cc",
"common/transformations/coordinates.hpp",
"common/transformations/orientation.cc",
"common/transformations/orientation.hpp"
"common/transformations/orientation.hpp",
"openpilot/common/transformations/coordinates.cc",
"openpilot/common/transformations/coordinates.hpp",
"openpilot/common/transformations/orientation.cc",
"openpilot/common/transformations/orientation.hpp"
],
"include_dirs": [
"common/transformations"
"common/transformations",
"openpilot/common/transformations"
],
"language": "c++",
"name": "common.transformations.transformations",
"sources": [
"/data/openpilot/common/transformations/transformations.pyx"
"/data/dp-private/common/transformations/transformations.pyx"
]
},
"module_name": "common.transformations.transformations"
@@ -2528,6 +2533,8 @@ static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__p
/* Module declarations from "libcpp" */
/* Module declarations from "openpilot.common.transformations.transformations" */
/* Module declarations from "cython" */
/* Module declarations from "libc.string" */
@@ -2720,6 +2727,8 @@ typedef struct {
#endif
#if CYTHON_USE_MODULE_STATE
#endif
#if CYTHON_USE_MODULE_STATE
#endif
PyTypeObject *__pyx_ptype_7cpython_4type_type;
#if CYTHON_USE_MODULE_STATE
#endif
@@ -3269,6 +3278,8 @@ static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) {
#endif
#if CYTHON_USE_MODULE_STATE
#endif
#if CYTHON_USE_MODULE_STATE
#endif
#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type
#if CYTHON_USE_MODULE_STATE
#endif
@@ -10123,7 +10134,7 @@ if (!__Pyx_RefNanny) {
/* "common/transformations/transformations.pyx":1
* # distutils: language = c++ # <<<<<<<<<<<<<<
* # cython: language_level = 3
* from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
* from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
*/
__pyx_t_2 = __Pyx_PyDict_NewPresized(0); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 1, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_2);
common/transformations/transformations.pyx
+14 -14
View File
@@ -1,20 +1,20 @@
# distutils: language = c++
# cython: language_level = 3
from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
from common.transformations.transformations cimport ECEF, NED, Geodetic
from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
from common.transformations.transformations cimport euler2quat as euler2quat_c
from common.transformations.transformations cimport quat2euler as quat2euler_c
from common.transformations.transformations cimport quat2rot as quat2rot_c
from common.transformations.transformations cimport rot2quat as rot2quat_c
from common.transformations.transformations cimport euler2rot as euler2rot_c
from common.transformations.transformations cimport rot2euler as rot2euler_c
from common.transformations.transformations cimport rot_matrix as rot_matrix_c
from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
from common.transformations.transformations cimport LocalCoord_c
from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
from openpilot.common.transformations.transformations cimport LocalCoord_c
import cython
common/transformations/transformations.so
BIN
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Binary file not shown.
common/util.h
+16 -7
View File
@@ -77,6 +77,8 @@ float getenv(const char* key, float default_val);
std::string hexdump(const uint8_t* in, const size_t size);
std::string dir_name(std::string const& path);
bool starts_with(const std::string &s1, const std::string &s2);
bool ends_with(const std::string &s1, const std::string &s2);
// ***** random helpers *****
int random_int(int min, int max);
@@ -115,7 +117,7 @@ public:
#ifndef __APPLE__
std::signal(SIGPWR, (sighandler_t)set_do_exit);
#endif
};
}
inline static std::atomic<bool> power_failure = false;
inline static std::atomic<int> signal = 0;
inline operator bool() { return do_exit; }
@@ -151,12 +153,18 @@ struct unique_fd {
class FirstOrderFilter {
public:
FirstOrderFilter(float x0, float ts, float dt) {
FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) {
k_ = (dt / ts) / (1.0 + dt / ts);
x_ = x0;
initialized_ = initialized;
}
inline float update(float x) {
x_ = (1. - k_) * x_ + k_ * x;
if (initialized_) {
x_ = (1. - k_) * x_ + k_ * x;
} else {
initialized_ = true;
x_ = x;
}
return x_;
}
inline void reset(float x) { x_ = x; }
@@ -164,12 +172,13 @@ public:
private:
float x_, k_;
bool initialized_;
};
template<typename T>
void update_max_atomic(std::atomic<T>& max, T const& value) {
T prev = max;
while(prev < value && !max.compare_exchange_weak(prev, value)) {}
while (prev < value && !max.compare_exchange_weak(prev, value)) {}
}
class LogState {
@@ -179,9 +188,9 @@ class LogState {
void *zctx = nullptr;
void *sock = nullptr;
int print_level;
const char* endpoint;
std::string endpoint;
LogState(const char* _endpoint) {
LogState(std::string _endpoint) {
endpoint = _endpoint;
}
@@ -193,7 +202,7 @@ class LogState {
int timeout = 100;
zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
zmq_connect(sock, endpoint);
zmq_connect(sock, endpoint.c_str());
initialized = true;
}
common/version.h
+1 -1
View File
@@ -1 +1 @@
#define COMMA_VERSION "2023.08.22"
#define COMMA_VERSION "2023.10.09"
docs/CARS.md
+269 -261
View File
@@ -2,282 +2,290 @@
# Supported Cars
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 257 Supported Cars
# 265 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>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=i30 2017-19">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Hyundai&model=Tucson Diesel 2019">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=Ceed 2019">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=Niro Hybrid 2021-22">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|Lexus|IS 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=IS 2023">Buy Here</a></sub></details>||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Škoda&model=Karoq 2019-23">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota 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-3x.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 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</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-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=i30 2017-19">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Tucson Diesel 2019">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Ceed 2019">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Niro Hybrid 2021-22">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Sorento Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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-3x.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 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.html?make=Škoda&model=Karoq 2019-23">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.html?make=Škoda&model=Octavia 2015-19">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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.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 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<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-3x.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>1</sup>openpilot Longitudinal Control (Alpha) 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>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 comma 3X or <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</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>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X 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 />
laika/downloader.py
+9 -19
View File
@@ -2,8 +2,6 @@ import certifi
import ftplib
import hatanaka
import os
import urllib.request
import urllib.error
import pycurl
import re
import time
@@ -13,7 +11,7 @@ import logging
from datetime import datetime, timedelta
from urllib.parse import urlparse
from io import BytesIO
from ftplib import FTP_TLS
from ftplib import FTP_TLS, FTP
from atomicwrites import atomic_write
@@ -198,26 +196,20 @@ def https_download_file(url):
def ftp_download_file(url):
try:
urlf = urllib.request.urlopen(url, timeout=10)
data_zipped = urlf.read()
urlf.close()
return data_zipped
except urllib.error.URLError as e:
raise DownloadFailed(e)
def ftps_download_file(url):
parsed = urlparse(url)
is_sftp = parsed.scheme == "sftp"
try:
buf = BytesIO()
with FTP_TLS(parsed.hostname) as ftps:
ftps.login(user='anonymous')
ftps.prot_p()
ftps.retrbinary('RETR ' + parsed.path, buf.write)
with FTP_TLS(parsed.hostname) if is_sftp else FTP(parsed.hostname) as ftp:
ftp.login(user='anonymous')
if is_sftp:
ftp.prot_p()
ftp.retrbinary('RETR ' + parsed.path, buf.write)
return buf.getvalue()
except ftplib.all_errors as e:
raise DownloadFailed(e)
@retryable
def download_files(url_base, folder_path, cacheDir, filenames):
parsed = urlparse(url_base)
@@ -233,10 +225,8 @@ def download_file(url_base, folder_path, filename_zipped):
logging.debug('Downloading ' + url)
if url.startswith('https://'):
return https_download_file(url)
elif url.startswith('ftp://'):
elif url.startswith(('ftp://', 'sftp://')):
return ftp_download_file(url)
elif url.startswith('sftp://'):
return ftps_download_file(url)
raise NotImplementedError('Did not find supported url scheme')
laika/helpers.py
+1 -1
View File
@@ -72,7 +72,7 @@ RINEX_CONSTELLATION_TO_ID: Dict[ConstellationId, str] = {
# Now you can ask for constellation using:
# >>> RINEX_CONSTELLATION_IDENTIFIERS['R']
# "GLONASS"
RINEX_ID_TO_CONSTELLATION: Dict[str, ConstellationId] = {id: con for con, id in RINEX_CONSTELLATION_TO_ID.items()}
RINEX_ID_TO_CONSTELLATION: Dict[str, ConstellationId] = {con_id: con for con, con_id in RINEX_CONSTELLATION_TO_ID.items()}
def get_el_az(pos, sat_pos):
laika/iono.py
+3 -2
View File
@@ -12,7 +12,8 @@ IPP_ALT = 6821000
def get_alpha_beta(rcv_pos, el):
geocentric_alt = np.linalg.norm(rcv_pos)
alpha = np.pi/2 + el
beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT)
arcsin_arg = geocentric_alt*np.sin(alpha)/IPP_ALT
beta = np.arcsin(np.clip(arcsin_arg, -1, 1))
return alpha, beta
def get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay):
@@ -183,7 +184,7 @@ def parse_ionex(ionex_file):
elif "END OF TEC MAP" in line:
map_end_idx += [j]
if maps_count != len(map_start_idx):
raise LookupError("Parsing error: the number of maps in the header "
raise LookupError("Parsing error: the number of maps in the header " +
"is not equal to the number of maps in the body.")
if len(map_start_idx) != len(map_end_idx):
raise IndexError("Starts end ends numbers are not equal.")
laika/raw_gnss.py
+50 -4
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@@ -174,6 +174,49 @@ def group_measurements_by_sat(measurements):
measurements_by_sat[sat] = [m for m in measurements if m.prn == sat]
return measurements_by_sat
def gps_time_from_qcom_report(gnss_msg):
if gnss_msg.which() == 'measurementReport':
report = gnss_msg.measurementReport
constellation = ConstellationId.from_qcom_source(report.source)
if constellation in [ConstellationId.GPS, ConstellationId.SBAS]:
report_time = GPSTime(report.gpsWeek, report.milliseconds / 1000.0)
elif constellation == ConstellationId.GLONASS:
report_time = GPSTime.from_glonass(report.glonassCycleNumber,
report.glonassNumberOfDays,
report.milliseconds / 1000.0)
else:
raise NotImplementedError(f'Unknownconstellation {report.source}')
else:
report = gnss_msg.drMeasurementReport
constellation = ConstellationId.from_qcom_source(report.source)
if ConstellationId.from_qcom_source(report.source) in [ConstellationId.GPS, ConstellationId.SBAS]:
report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
elif constellation == ConstellationId.GLONASS:
report_time = GPSTime.from_glonass(report.glonassYear,
report.glonassDay,
report.glonassMilliseconds / 1000.0)
else:
raise NotImplementedError(f'Unknownconstellation {report.source}')
return report_time
def get_measurements_from_qcom_reports(reports):
new_meas_dr = []
new_meas = []
for gnss_msg in reports:
if gnss_msg.which() == 'drMeasurementReport':
new_meas_dr.extend(read_raw_qcom(gnss_msg.drMeasurementReport))
else:
new_meas.extend(read_raw_qcom(gnss_msg.measurementReport))
sat_dict_dr = {meas.prn: meas for meas in new_meas_dr}
out_meas = []
for meas in new_meas:
if meas.prn in sat_dict_dr:
# Sometimes DR measurements are complete garbage, in those cases non-DR measurements are still sane, so cross-check
if abs(meas.observables['C1C'] - sat_dict_dr[meas.prn].observables['C1C']) < 1000:
meas.observables['C1C'] = sat_dict_dr[meas.prn].observables['C1C']
meas.observables_std['C1C'] = sat_dict_dr[meas.prn].observables_std['C1C']
out_meas.append(meas)
return out_meas
def read_raw_qcom(report):
dr = 'DrMeasurementReport' in str(report.schema)
@@ -207,15 +250,18 @@ def read_raw_qcom(report):
# TODO nmea_id is not valid. Fix publisher
continue
_, sv_id = get_constellation_and_sv_id(nmea_id)
if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown:
sat_tow = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency + time_bias_ms) / 1000
if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown and i.measurementStatus.freshMeasurementIndicator:
observables, observables_std = {}, {}
if dr:
sat_tow = (i.filteredMeasurementIntegral + i.filteredMeasurementFraction + i.latency + time_bias_ms) / 1000
else:
sat_tow = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency + time_bias_ms) / 1000
observables['C1C'] = (recv_tow - sat_tow)*constants.SPEED_OF_LIGHT
observables_std['C1C'] = i.unfilteredTimeUncertainty * 1e-3 * constants.SPEED_OF_LIGHT
observables_std['C1C'] = i.unfilteredTimeUncertainty * 1e-3 * constants.SPEED_OF_LIGHT # always use unfiltered std, filtered std is bigger?
if i.measurementStatus.fineOrCoarseVelocity:
# about 10x better, perhaps filtered with carrier phase?
observables['D1C'] = i.fineSpeed
observables_std['D1C'] = i.fineSpeedUncertainty
observables_std['D1C'] = sqrt(i.fineSpeedUncertainty) # sqrt empirically makes performance much better, might be wrong
else:
observables['D1C'] = i.unfilteredSpeed
observables_std['D1C'] = i.unfilteredSpeedUncertainty
laika/rinex_file.py
-1
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@@ -1,4 +1,3 @@
#!/usr/bin/env python
# Copyright (C) 2014 Swift Navigation Inc.
#
laika/trop.py
-2
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@@ -1,5 +1,3 @@
#!/usr/bin/python
from numpy import cos, exp, pi
from .lib.coordinates import ecef2geodetic
opendbc/can/common.pxd
+1 -1
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@@ -67,7 +67,7 @@ cdef extern from "common.h":
cdef cppclass CANParser:
bool can_valid
bool bus_timeout
CANParser(int, string, vector[pair[uint32_t, int]])
CANParser(int, string, vector[pair[uint32_t, int]]) except +
void update_strings(vector[string]&, vector[SignalValue]&, bool) except +
cdef cppclass CANPacker:
opendbc/can/common_dbc.h
-2
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@@ -5,8 +5,6 @@
#include <string>
#include <vector>
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
struct SignalPackValue {
std::string name;
double value;
opendbc/can/libdbc.so
BIN
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opendbc/can/packer_pyx.so
BIN
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opendbc/can/parser_pyx.cpp
+423 -446
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opendbc/can/parser_pyx.so
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opendbc/gm_global_a_powertrain_generated.dbc
+12 -8
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@@ -176,12 +176,13 @@ BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
BO_ 352 VehicleIgnition: 5 XXX
SG_ Ignition : 7|32@0+ (1,0) [0|4294967295] "" XXX
BO_ 352 BCMImmobilizer: 5 K9_BCM
SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX
BO_ 497 VehicleIgnitionAlt: 8 XXX
SG_ Ignition : 5|1@0+ (1,0) [0|1] "" XXX
SG_ ParkBrake : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX
SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 501 ECMPRDNL2: 8 K20_ECM
SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
@@ -194,7 +195,7 @@ BO_ 532 BRAKE_RELATED: 6 XXX
BO_ 560 EPBStatus: 8 EPB
SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO
BO_ 562 EBCMFrictionBrakeStatus: 8 XXX
BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM
SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
BO_ 608 SPEED_RELATED: 8 XXX
@@ -316,11 +317,12 @@ CM_ BU_ K124_ASCM "Active Safety Control Module";
CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
CM_ SG_ 352 Ignition "Non-zero when ignition is on";
CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 497 SystemPowerMode "Describes ignition";
CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
@@ -335,6 +337,8 @@ BA_DEF_DEF_ "BusType" "";
BA_ "BusType" "CAN";
BA_ "ProtocolType" "GMLAN";
BA_ "UseGMParameterIDs" 0;
VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
opendbc/honda_civic_touring_2016_can_generated.dbc
+1 -1
View File
@@ -377,7 +377,7 @@ CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 399 STEER_STATUS 7 "permanent_fault" 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
opendbc/hyundai_canfd.dbc
+94 -7
View File
@@ -65,7 +65,7 @@ BO_ 80 LKAS: 16 XXX
SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
@@ -98,10 +98,10 @@ BO_ 160 WHEEL_SPEEDS: 24 XXX
SG_ MOVING_BACKWARD : 57|1@0+ (1,0) [0|1] "" XXX
SG_ MOVING_FORWARD2 : 58|1@0+ (1,0) [0|1] "" XXX
SG_ MOVING_BACKWARD2 : 59|1@0+ (1,0) [0|1] "" XXX
SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "m/s" XXX
SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "m/s" XXX
SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "m/s" XXX
SG_ WHEEL_SPEED_4 : 112|16@1+ (0.03125,0) [0|65535] "m/s" XXX
SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "kph" XXX
SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "kph" XXX
SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "kph" XXX
SG_ WHEEL_SPEED_4 : 112|16@1+ (0.03125,0) [0|65535] "kph" XXX
BO_ 234 MDPS: 24 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -124,6 +124,23 @@ BO_ 261 ACCELERATOR_ALT: 32 XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ ACCELERATOR_PEDAL : 103|10@1+ (0.25,0) [0|1022] "" XXX
BO_ 272 LKAS_ALT: 32 XXX
SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
BO_ 293 STEERING_SENSORS: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -143,7 +160,7 @@ BO_ 298 LFA: 16 ADRV
SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
BO_ 304 GEAR_SHIFTER: 16 XXX
@@ -453,7 +470,10 @@ BO_ 676 CAM_0x2a4: 24 XXX
SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX
SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX
SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
@@ -487,11 +507,55 @@ BO_ 702 CAM_0x2be: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ MSLA_STATUS : 26|2@1+ (1,0) [0|3] "" XXX
SG_ MSLA_ENABLED : 38|1@1+ (1,0) [0|1] "" XXX
SG_ MAX_SPEED : 55|8@0+ (1,0) [0|255] "" XXX
SG_ MAX_SPEED_COPY : 144|8@1+ (1,0) [0|255] "" XXX
BO_ 837 ADRV_0x345: 8 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_15 : 24|8@1+ (1,0) [0|255] "" XXX
BO_ 866 CAM_0x362: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX
SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX
SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE24 : 192|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE25 : 200|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE26 : 208|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE27 : 216|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE28 : 224|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE29 : 232|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE30 : 240|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE31 : 248|8@1+ (1,0) [0|255] "" XXX
BO_ 961 BLINKER_STALKS: 8 XXX
SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX
@@ -512,9 +576,14 @@ BO_ 1041 DOORS_SEATBELTS: 8 XXX
SG_ PASSENGER_SEATBELT : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1043 BLINKERS: 8 XXX
SG_ LEFT_STALK : 8|1@0+ (1,0) [0|1] "" XXX
SG_ RIGHT_STALK : 10|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
SG_ LEFT_LAMP : 20|1@0+ (1,0) [0|1] "" XXX
SG_ RIGHT_LAMP : 22|1@0+ (1,0) [0|1] "" XXX
SG_ LEFT_LAMP_ALT : 59|1@0+ (1,0) [0|1] "" XXX
SG_ RIGHT_LAMP_ALT : 61|1@0+ (1,0) [0|1] "" XXX
SG_ USE_ALT_LAMP : 62|1@0+ (1,0) [0|1] "" XXX
BO_ 1240 CLUSTER_INFO: 8 XXX
SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX
@@ -589,7 +658,12 @@ BO_ 1264 LOCAL_TIME: 8 XXX
SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
CM_ 272 "Alternative LKAS message, used on cars such as 2023 Ioniq 6, 2nd gen Kona. Matches LKAS except size is 32 bytes";
CM_ 676 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA.";
CM_ 866 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA. Used on cars that use message 272.";
CM_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
CM_ SG_ 80 HAS_LANE_SAFETY "If 0, hides LKAS 'Lane Safety' menu from vehicle settings";
CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?";
@@ -598,9 +672,15 @@ CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION";
CM_ SG_ 373 DriverBrakingLowSens "Higher threshold version of DriverBraking";
CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
CM_ SG_ 416 VSetDis "set speed in display units";
CM_ SG_ 676 LEFT_LANE_LINE "Left lane line confidence";
CM_ SG_ 676 RIGHT_LANE_LINE "Right lane line confidence";
CM_ SG_ 736 MAX_SPEED "Display units. Restricts car from driving above this speed unless accelerator pedal is depressed beyond pressure point";
CM_ SG_ 866 LEFT_LANE_LINE "Left lane line confidence";
CM_ SG_ 866 RIGHT_LANE_LINE "Right lane line confidence";
CM_ SG_ 961 COUNTER_ALT "only increments on change";
CM_ SG_ 1041 COUNTER_ALT "only increments on change";
CM_ SG_ 1043 COUNTER_ALT "only increments on change";
CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
@@ -609,6 +689,8 @@ VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ;
VAL_ 272 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
VAL_ 272 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
VAL_ 304 PARK_BUTTON 1 "Pressed" 2 "Not Pressed";
@@ -622,6 +704,11 @@ VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4
VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled";
VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled";
VAL_ 676 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
VAL_ 676 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
VAL_ 736 MSLA_STATUS 0 "disabled" 1 "active" 2 "paused";
VAL_ 866 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
VAL_ 866 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
VAL_ 1041 DRIVER_DOOR 0 "Closed" 1 "Opened";
VAL_ 1041 PASSENGER_DOOR 0 "Closed" 1 "Opened";
VAL_ 1041 DRIVER_REAR_DOOR 0 "Closed" 1 "Opened";
opendbc/hyundai_kia_generic.dbc
+2
View File
@@ -1645,6 +1645,7 @@ BO_ 1348 Navi_HU: 8 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_ 1056 SCCInfoDisplay "Goes to 1 for a second while transitioning from Cruise Control to No Message";
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";
@@ -1654,6 +1655,7 @@ 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";
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
VAL_ 1056 SCCInfoDisplay 0 "No Message" 2 "Cruise Control" 3 "Lost Lead" 4 "Standstill";
VAL_ 1057 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault";
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
opendbc/mazda_2017.dbc
+14
View File
@@ -209,6 +209,8 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX
SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX
SG_ TJA : 38|3@0+ (1,0) [0|7] "" XXX
SG_ TJA_TRANSITION : 27|2@0+ (1,0) [0|63] "" XXX
BO_ 1479 NEW_MSG_470: 8 XXX
@@ -554,6 +556,8 @@ BO_ 535 CURVE_CTRS: 8 XXX
BO_ 540 CRZ_CTRL: 8 XXX
SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
@@ -561,7 +565,9 @@ BO_ 540 CRZ_CTRL: 8 XXX
SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX
SG_ MSG_1_INV : 1|1@0+ (1,0) [0|1] "" XXX
SG_ MSG_1_COPY : 9|1@0+ (1,0) [0|1] "" XXX
SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
SG_ ACC_ACTIVE_2 : 52|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
SG_ MSG_1 : 0|1@0+ (1,0) [0|3] "" XXX
SG_ 5_SEC_DISABLE_TIMER : 45|3@0+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_3 : 13|1@0+ (1,0) [0|3] "" XXX
@@ -701,6 +707,12 @@ BO_ 1143 BSM: 8 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
BO_ 480 ACCEL_TEST: 8 XXX
SG_ ACCEL_COMMAND : 7|32@0- (1,0) [-2147483647|2147483647] "" XXX
SG_ ENABLED : 32|1@0+ (1,0) [0|1] "" XXX
SG_ STARTING : 40|1@0+ (1,0) [0|1] "" XXX
SG_ STOPPING : 48|1@0+ (1,0) [0|1] "" XXX
BO_ 1361 KEY_POSITION: 8 XXX
BO_ 1283 KEY_POSITION2: 8 XXX
@@ -760,6 +772,8 @@ CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high";
CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
CM_ SG_ 1157 WARNING "1 Rare, 0 often";
CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
CM_ SG_ 1088 TJA "2: crz not active, 3: TJA not allowed, 4: TJA allowed";
CM_ SG_ 1088 TJA_TRANSITION "3: if TJA signal is 3, otherwise set to 0";
CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
CM_ SG_ 120 VEHICLE_ACC_X "Vehicle acceleration of X-axis wrt. NED frame.";
CM_ SG_ 120 VEHICLE_ACC_Y "Vehicle acceleration of Y-axis wrt. NED frame.";
opendbc/subaru_forester_2017_generated.dbc
+6 -5
View File
@@ -127,10 +127,11 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@@ -139,7 +140,7 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
@@ -154,10 +155,10 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
BO_ 354 ES_Status: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
opendbc/subaru_global_2017_generated.dbc
+26 -11
View File
@@ -162,9 +162,9 @@ BO_ 544 ES_Brake: 8 XXX
BO_ 577 Cruise_Status: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_Set_Speed : 51|12@0+ (1,0) [0|120] "" XXX
SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Active : 57|4@1+ (1,0) [0|15] "" XXX
BO_ 552 BSD_RCTA: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -246,6 +246,14 @@ BO_ 802 ES_LKAS_State: 8 XXX
SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX
SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" 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
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
BO_ 722 AC_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
@@ -257,6 +265,21 @@ BO_ 1677 Dash_State: 8 XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
BO_ 554 ES_HighBeamAssist: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ HBA_Available : 13|1@0+ (1,0) [0|1] "" XXX
BO_ 805 ES_STATIC_1: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SET_3 : 23|2@0+ (1,0) [0|3] "" XXX
BO_ 289 ES_STATIC_2: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" 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";
@@ -287,7 +310,7 @@ BO_ 72 Transmission: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
SG_ RPM : 40|16@1+ (1,0) [0|65535] "" XXX
SG_ RPM : 40|15@1+ (1,0) [0|65535] "" XXX
BO_ 73 CVT: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -302,7 +325,7 @@ BO_ 545 ES_Distance: 8 XXX
SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 33|1@1+ (1,0) [0|1] "" XXX
SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Signal7 : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
@@ -336,14 +359,6 @@ 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 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
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
opendbc/subaru_global_2020_hybrid_generated.dbc
+324
View File
@@ -0,0 +1,324 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
CM_ "Imported file _subaru_global.dbc starts here";
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_: XXX X
BO_ 2 Steering: 8 XXX
SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
SG_ COUNTER : 25|3@1+ (1,0) [0|7] "" XXX
SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 64 Throttle: 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_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX
SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
BO_ 316 Brake_Status: 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|46@1+ (1,0) [0|1] "" XXX
SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX
BO_ 326 Cruise_Buttons: 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|30@1+ (1,0) [0|1073741823] "" XXX
SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
BO_ 315 G_Sensor: 8 XXX
SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX
BO_ 314 Wheel_Speeds: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" 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 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_ 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
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" 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
SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 313 Brake_Pedal: 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_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX
SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX
SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX
BO_ 372 Engine_Stop_Start: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
BO_ 290 ES_LKAS: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" 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_ 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
SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX
BO_ 577 Cruise_Status: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_Set_Speed : 51|12@0+ (1,0) [0|120] "" XXX
SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
BO_ 552 BSD_RCTA: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX
BO_ 912 Dashlights: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX
SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX
SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
SG_ STOP_START : 54|1@0+ (1,0) [0|1] "" XXX
BO_ 940 BodyInfo: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX
SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX
SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX
SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
BO_ 801 ES_DashStatus: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX
SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX
SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX
SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX
SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX
SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX
SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX
SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
BO_ 802 ES_LKAS_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX
SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX
SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX
SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX
SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX
SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" 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
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
BO_ 722 AC_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX
SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX
BO_ 1677 Dash_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
BO_ 554 ES_HighBeamAssist: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ HBA_Available : 13|1@0+ (1,0) [0|1] "" XXX
BO_ 805 ES_STATIC_1: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SET_3 : 23|2@0+ (1,0) [0|3] "" XXX
BO_ 289 ES_STATIC_2: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" 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";
CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast";
CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope";
CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual";
CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display";
CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off";
CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep";
CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
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";
BO_ 39 Cruise_Status_2: 8 XXX
SG_ Cruise_Activated : 37|1@0+ (1,0) [0|1] "" XXX
BO_ 295 Transmission: 8 XXX
SG_ Gear : 44|4@1+ (1,0) [0|15] "" XXX
BO_ 360 Throttle_Hybrid: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 550 Brake_Hybrid: 8 XXX
SG_ Brake_Pedal : 24|8@1+ (1,0) [0|1] "" XXX
SG_ Brake : 37|1@1+ (1,0) [0|1] "" XXX
VAL_ 295 Gear 0 "P" 1 "R" 3 "D";
opendbc/subaru_outback_2015_generated.dbc
+6 -5
View File
@@ -127,10 +127,11 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@@ -139,7 +140,7 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
@@ -154,10 +155,10 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
BO_ 354 ES_Status: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
opendbc/subaru_outback_2019_generated.dbc
+6 -5
View File
@@ -127,10 +127,11 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@@ -139,7 +140,7 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
@@ -154,10 +155,10 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
BO_ 354 ES_Status: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
opendbc/vw_golf_mk4.dbc
+1 -1
View File
@@ -1178,7 +1178,7 @@ BO_ 870 AWV: 8 XXX
SG_ AWV_1_Freigabe : 16|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ AWV_1_Prefill : 17|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ AWV_1_Parameter : 18|2@1+ (1,0) [0|3] "" Vector__XXX
SG_ AWV_only : 20|4@1+ (1,0) [0|0] "" Vector__XXX
SG_ AWV_only : 20|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ AWV_CityANB_Auspraegung : 21|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ AWV_Halten : 22|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ ANB_Teilbremsung_Freigabe : 23|1@1+ (1,0) [0|1] "" Vector__XXX
openpilot/__init__.py
+3
View File
@@ -0,0 +1,3 @@
openpilot/common
Symlink
+1
View File
@@ -0,0 +1 @@
../common
openpilot/selfdrive
Symlink
+1
View File
@@ -0,0 +1 @@
../selfdrive/
openpilot/system
Symlink
+1
View File
@@ -0,0 +1 @@
../system/
openpilot/third_party
Symlink
+1
View File
@@ -0,0 +1 @@
../third_party
openpilot/tools
Symlink
+1
View File
@@ -0,0 +1 @@
../tools
panda/__init__.py
+2 -2
View File
@@ -1,9 +1,9 @@
from .python.constants import McuType, BASEDIR, FW_PATH, USBPACKET_MAX_SIZE # noqa: F401
from .python.spi import PandaSpiException, PandaProtocolMismatch # noqa: F401
from .python.spi import PandaSpiException, PandaProtocolMismatch, STBootloaderSPIHandle # noqa: F401
from .python.serial import PandaSerial # noqa: F401
from .python.canhandle import CanHandle # noqa: F401
from .python import (Panda, PandaDFU, # noqa: F401
pack_can_buffer, unpack_can_buffer, calculate_checksum, unpack_log,
pack_can_buffer, unpack_can_buffer, calculate_checksum,
DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
panda/board/jungle/__init__.py
+4 -1
View File
@@ -50,7 +50,7 @@ class PandaJungle(Panda):
@classmethod
def spi_connect(cls, serial, ignore_version=False):
return None, None, None, None
return None, None, None, None, None
def flash(self, fn=None, code=None, reconnect=True):
if not fn:
@@ -132,6 +132,9 @@ class PandaJungle(Panda):
def set_panda_power(self, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa0, int(enabled), 0, b'')
def set_panda_individual_power(self, port, enabled):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa3, int(port), int(enabled), b'')
def set_harness_orientation(self, mode):
self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa1, int(mode), 0, b'')
panda/board/jungle/boards/board_declarations.h
+7
View File
@@ -4,6 +4,7 @@ typedef void (*board_set_led)(uint8_t color, bool enabled);
typedef void (*board_board_tick)(void);
typedef bool (*board_get_button)(void);
typedef void (*board_set_panda_power)(bool enabled);
typedef void (*board_set_panda_individual_power)(uint8_t port_num, bool enabled);
typedef void (*board_set_ignition)(bool enabled);
typedef void (*board_set_individual_ignition)(uint8_t bitmask);
typedef void (*board_set_harness_orientation)(uint8_t orientation);
@@ -23,6 +24,7 @@ struct board {
board_board_tick board_tick;
board_get_button get_button;
board_set_panda_power set_panda_power;
board_set_panda_individual_power set_panda_individual_power;
board_set_ignition set_ignition;
board_set_individual_ignition set_individual_ignition;
board_set_harness_orientation set_harness_orientation;
@@ -75,3 +77,8 @@ void unused_board_enable_header_pin(uint8_t pin_num, bool enabled) {
UNUSED(pin_num);
UNUSED(enabled);
}
void unused_set_panda_individual_power(uint8_t port_num, bool enabled) {
UNUSED(port_num);
UNUSED(enabled);
}
panda/board/jungle/boards/board_v1.h
+1
View File
@@ -164,6 +164,7 @@ const board board_v1 = {
.board_tick = &board_v1_tick,
.get_button = &board_v1_get_button,
.set_panda_power = &board_v1_set_panda_power,
.set_panda_individual_power = &unused_set_panda_individual_power,
.set_ignition = &board_v1_set_ignition,
.set_individual_ignition = &unused_set_individual_ignition,
.set_harness_orientation = &board_v1_set_harness_orientation,
panda/board/jungle/boards/board_v2.h
+18
View File
@@ -178,9 +178,26 @@ void board_v2_set_can_mode(uint8_t mode) {
}
bool panda_power = false;
uint8_t panda_power_bitmask = 0U;
void board_v2_set_panda_power(bool enable) {
panda_power = enable;
gpio_set_all_output(power_pins, sizeof(power_pins) / sizeof(gpio_t), enable);
if (enable) {
panda_power_bitmask = 0xFFU;
} else {
panda_power_bitmask = 0U;
}
}
void board_v2_set_panda_individual_power(uint8_t port_num, bool enable) {
port_num -= 1U;
if (port_num < 6U) {
panda_power_bitmask &= ~(1U << port_num);
panda_power_bitmask |= (enable ? 1U : 0U) << port_num;
} else {
print("Invalid port number ("); puth(port_num); print("): enabling failed\n");
}
gpio_set_bitmask(power_pins, sizeof(power_pins) / sizeof(gpio_t), (uint32_t)panda_power_bitmask);
}
bool board_v2_get_button(void) {
@@ -297,6 +314,7 @@ const board board_v2 = {
.board_tick = &board_v2_tick,
.get_button = &board_v2_get_button,
.set_panda_power = &board_v2_set_panda_power,
.set_panda_individual_power = &board_v2_set_panda_individual_power,
.set_ignition = &board_v2_set_ignition,
.set_individual_ignition = &board_v2_set_individual_ignition,
.set_harness_orientation = &board_v2_set_harness_orientation,
panda/board/jungle/main.c
+6
View File
@@ -141,6 +141,9 @@ int main(void) {
clock_init();
peripherals_init();
detect_board_type();
// red+green leds enabled until succesful USB init, as a debug indicator
current_board->set_led(LED_RED, true);
current_board->set_led(LED_GREEN, true);
// print hello
print("\n\n\n************************ MAIN START ************************\n");
@@ -172,6 +175,9 @@ int main(void) {
// enable USB (right before interrupts or enum can fail!)
usb_init();
current_board->set_led(LED_RED, false);
current_board->set_led(LED_GREEN, false);
print("**** INTERRUPTS ON ****\n");
enable_interrupts();

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