mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-08-08 17:55:39 +08:00
lp-dp 2023-06-12T05:58:26 for EON/C2
version: lp-dp v0.9.3 for EON/C2 date: 2023-06-12T05:58:26 commit: a6e632fddf5e5e22867c0fd549b4e701cbc35d63
This commit is contained in:
Vehicle Researcher
+11
-2
@@ -87,10 +87,19 @@ poetry.toml
|
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# rick - these are generated during compilation.
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||||
selfdrive/camerad/camerad
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selfdrive/golden/
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||||
selfdrive/legacy_modeld/_dmonitoringmodeld
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||||
selfdrive/hybrid_modeld/_dmonitoringmodeld
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||||
selfdrive/hybrid_modeld/_modeld
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||||
selfdrive/hybrid_modeld/models/supercombo.thneed
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||||
selfdrive/hybrid_modeld/models/supercombo_badweights.thneed
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selfdrive/hybrid_modeld/thneed/compile
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||||
selfdrive/loggerd/bootlog
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# 0813 models
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selfdrive/legacy_modeld/_modeld
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||||
selfdrive/legacy_modeld/models/supercombo.thneed
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||||
selfdrive/legacy_modeld/_dmonitoringmodeld
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||||
selfdrive/legacy_modeld/models/supercombo_badweights.thneed
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selfdrive/legacy_modeld/thneed/compile
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selfdrive/loggerd/bootlog
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third_party/acados/lib
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# lang files
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*.po~
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@@ -42,6 +42,10 @@ I encourage users to consider purchasing a [comma 3](https://shop.comma.ai) for
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* Services are not optimized for resource usage, and using all services may result in overheating issues.
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* Language files can only be generated in a PC due to missing Qt5 tools.
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## Configuration
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* Considering performance issues, I have turned off all logging-related services. If anyone needs to use them, they can use `dp_logging` parameter to enable them.
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* If you are not a Comma Two device, you can use the `dp_no_fan_ctrl` parameter to disable fan-related detection and control.
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=======================
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@@ -1,5 +1,11 @@
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Version 0.9.3 (2023-06-XX)
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========================
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* New driving model
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* New driving personality setting
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* Three settings: aggressive, standard, and relaxed
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* Standard is recommended and the default
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* In aggressive mode lead follow distance is shorter and quicker gas/brake response
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* In relaxed mode lead follow distance is longer
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Version 0.9.2 (2023-05-22)
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========================
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+19
-14
@@ -1,5 +1,4 @@
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What is cereal? [](https://github.com/commaai/cereal/actions) [](https://codecov.io/gh/commaai/cereal)
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----
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# What is cereal? [](https://github.com/commaai/cereal/actions) [](https://codecov.io/gh/commaai/cereal)
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cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
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@@ -9,29 +8,35 @@ Imagine this use case:
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* A localization process subscribes to the `sensorEvents` packet to use the IMU also
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Messaging Spec
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----
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## Messaging Spec
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You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
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You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
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All Events have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
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All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
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Message definition Best Practices
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----
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### Best Practices
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- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
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- In the context of the message they are in, field names should be completely unambiguous.
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- All values should be easy to plot and be human-readable with minimal parsing.
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### Maintaining backwards-compatibility
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When making changes to the messaging spec you want to maintain backwards-compatability, such that old logs can
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be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
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things are not. Read more details [here](https://capnproto.org/language.html).
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Pub Sub Backends
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----
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### Custom forks
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cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
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Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
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spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
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then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
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[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
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||||
fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
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## Pub Sub Backends
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|
||||
cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
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Example
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---
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@@ -7,3 +7,4 @@ capnp.remove_import_hook()
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log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
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car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
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custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
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+4
-1
@@ -23,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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enum EventName @0xbaa8c5d505f727de {
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canError @0;
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steerUnavailable @1;
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brakeUnavailable @2;
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wrongGear @4;
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doorOpen @5;
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seatbeltNotLatched @6;
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@@ -140,6 +139,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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startupOneplusDEPRECATED @82;
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startupFuzzyFingerprintDEPRECATED @97;
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noTargetDEPRECATED @25;
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brakeUnavailableDEPRECATED @2;
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}
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}
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@@ -166,6 +166,8 @@ struct CarState {
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# gas pedal, 0.0-1.0
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gas @3 :Float32; # this is user pedal only
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gasPressed @4 :Bool; # this is user pedal only
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engineRpm @46 :Float32;
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# brake pedal, 0.0-1.0
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brake @5 :Float32; # this is user pedal only
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@@ -187,6 +189,7 @@ struct CarState {
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stockFcw @31 :Bool;
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espDisabled @32 :Bool;
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accFaulted @42 :Bool;
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carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
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|
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# cruise state
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cruiseState @10 :CruiseState;
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|
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@@ -0,0 +1,59 @@
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using Cxx = import "./include/c++.capnp";
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$Cxx.namespace("cereal");
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||||
|
||||
@0xb526ba661d550a59;
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||||
|
||||
# custom.capnp: a home for empty structs reserved for custom forks
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# These structs are guaranteed to remain reserved and empty in mainline
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# cereal, so use these if you want custom events in your fork.
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||||
|
||||
# you can rename the struct, but don't change the identifier
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struct LiveMapData @0x81c2f05a394cf4af {
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speedLimitValid @0 :Bool;
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speedLimit @1 :Float32;
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speedLimitAheadValid @2 :Bool;
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speedLimitAhead @3 :Float32;
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speedLimitAheadDistance @4 :Float32;
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turnSpeedLimitValid @5 :Bool;
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||||
turnSpeedLimit @6 :Float32;
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turnSpeedLimitEndDistance @7 :Float32;
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turnSpeedLimitSign @8 :Int16;
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turnSpeedLimitsAhead @9 :List(Float32);
|
||||
turnSpeedLimitsAheadDistances @10 :List(Float32);
|
||||
turnSpeedLimitsAheadSigns @11 :List(Int16);
|
||||
lastGpsTimestamp @12 :Int64; # Milliseconds since January 1, 1970.
|
||||
currentRoadName @13 :Text;
|
||||
lastGpsLatitude @14 :Float64;
|
||||
lastGpsLongitude @15 :Float64;
|
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lastGpsSpeed @16 :Float32;
|
||||
lastGpsBearingDeg @17 :Float32;
|
||||
lastGpsAccuracy @18 :Float32;
|
||||
lastGpsBearingAccuracyDeg @19 :Float32;
|
||||
}
|
||||
|
||||
struct CustomReserved1 @0xaedffd8f31e7b55d {
|
||||
}
|
||||
|
||||
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
|
||||
}
|
||||
|
||||
struct CustomReserved3 @0xda96579883444c35 {
|
||||
}
|
||||
|
||||
struct CustomReserved4 @0x80ae746ee2596b11 {
|
||||
}
|
||||
|
||||
struct CustomReserved5 @0xa5cd762cd951a455 {
|
||||
}
|
||||
|
||||
struct CustomReserved6 @0xf98d843bfd7004a3 {
|
||||
}
|
||||
|
||||
struct CustomReserved7 @0xb86e6369214c01c8 {
|
||||
}
|
||||
|
||||
struct CustomReserved8 @0xf416ec09499d9d19 {
|
||||
}
|
||||
|
||||
struct CustomReserved9 @0xa1680744031fdb2d {
|
||||
}
|
||||
@@ -1,11 +0,0 @@
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||||
using Cxx = import "./include/c++.capnp";
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$Cxx.namespace("cereal");
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||||
|
||||
@0xbfa7e645486440c7;
|
||||
|
||||
# mapd
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struct LiveMapData {
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speedLimit @0 :Float32;
|
||||
speedLimitValid @1 :Bool;
|
||||
currentRoadName @2 :Text;
|
||||
}
|
||||
Binary file not shown.
+26
-2
@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
|
||||
|
||||
using Car = import "car.capnp";
|
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using Legacy = import "legacy.capnp";
|
||||
using Dp = import "dp.capnp";
|
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using Custom = import "custom.capnp";
|
||||
|
||||
@0xf3b1f17e25a4285b;
|
||||
|
||||
@@ -16,6 +16,12 @@ struct Map(Key, Value) {
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value @1 :Value;
|
||||
}
|
||||
}
|
||||
|
||||
enum LongitudinalPersonality {
|
||||
aggressive @0;
|
||||
standard @1;
|
||||
relaxed @2;
|
||||
}
|
||||
|
||||
struct InitData {
|
||||
kernelArgs @0 :List(Text);
|
||||
@@ -603,6 +609,7 @@ struct LiveCalibrationData {
|
||||
rpyCalib @7 :List(Float32);
|
||||
rpyCalibSpread @8 :List(Float32);
|
||||
wideFromDeviceEuler @10 :List(Float32);
|
||||
height @12 :List(Float32);
|
||||
|
||||
warpMatrixDEPRECATED @0 :List(Float32);
|
||||
calStatusDEPRECATED @1 :Int8;
|
||||
@@ -971,6 +978,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
jerks @34 :List(Float32);
|
||||
|
||||
solverExecutionTime @35 :Float32;
|
||||
personality @36 :LongitudinalPersonality;
|
||||
|
||||
enum LongitudinalPlanSource {
|
||||
cruise @0;
|
||||
@@ -1126,6 +1134,8 @@ struct LiveLocationKalman {
|
||||
excessiveResets @24 :Bool;
|
||||
timeToFirstFix @25 :Float32;
|
||||
|
||||
filterState @26 : Measurement;
|
||||
|
||||
enum Status {
|
||||
uninitialized @0;
|
||||
uncalibrated @1;
|
||||
@@ -1982,6 +1992,8 @@ struct CameraOdometry {
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
wideFromDeviceEuler @6 :List(Float32);
|
||||
wideFromDeviceEulerStd @7 :List(Float32);
|
||||
roadTransformTrans @8 :List(Float32);
|
||||
roadTransformTransStd @9 :List(Float32);
|
||||
}
|
||||
|
||||
struct Sentinel {
|
||||
@@ -2202,6 +2214,18 @@ struct Event {
|
||||
wideRoadEncodeData @88 :EncodeData;
|
||||
qRoadEncodeData @89 :EncodeData;
|
||||
|
||||
# *********** Custom: reserved for forks ***********
|
||||
liveMapData @107 :Custom.LiveMapData;
|
||||
customReserved1 @108 :Custom.CustomReserved1;
|
||||
customReserved2 @109 :Custom.CustomReserved2;
|
||||
customReserved3 @110 :Custom.CustomReserved3;
|
||||
customReserved4 @111 :Custom.CustomReserved4;
|
||||
customReserved5 @112 :Custom.CustomReserved5;
|
||||
customReserved6 @113 :Custom.CustomReserved6;
|
||||
customReserved7 @114 :Custom.CustomReserved7;
|
||||
customReserved8 @115 :Custom.CustomReserved8;
|
||||
customReserved9 @116 :Custom.CustomReserved9;
|
||||
|
||||
# *********** legacy + deprecated ***********
|
||||
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
liveMpcDEPRECATED @36 :LiveMpcData;
|
||||
@@ -2216,7 +2240,7 @@ struct Event {
|
||||
cellInfoDEPRECATED @28 :List(Legacy.CellInfo);
|
||||
wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
|
||||
uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
|
||||
liveMapData @62 :Dp.LiveMapData;
|
||||
liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
|
||||
gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
|
||||
gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
|
||||
applanixRawDEPRECATED @42 :Data;
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
# must be build with scons
|
||||
from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event # pylint: disable=no-name-in-module, import-error
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
import os
|
||||
import capnp
|
||||
@@ -12,6 +12,11 @@ from cereal.services import service_list
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
assert toggle_fake_events
|
||||
assert set_fake_prefix
|
||||
assert get_fake_prefix
|
||||
assert delete_fake_prefix
|
||||
assert wait_for_one_event
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
AVG_FREQ_HISTORY = 100
|
||||
@@ -27,9 +32,20 @@ except ImportError:
|
||||
|
||||
context = Context()
|
||||
|
||||
|
||||
def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
|
||||
identifier = identifier or get_fake_prefix()
|
||||
handle = SocketEventHandle(endpoint, identifier, override)
|
||||
if override:
|
||||
handle.enabled = enable
|
||||
|
||||
return handle
|
||||
|
||||
|
||||
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
|
||||
|
||||
|
||||
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)
|
||||
@@ -41,11 +57,13 @@ def new_message(service: Optional[str] = None, size: Optional[int] = None) -> ca
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
sock = SubSocket()
|
||||
@@ -75,6 +93,7 @@ def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
|
||||
|
||||
return ret
|
||||
|
||||
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret: List[capnp.lib.capnp._DynamicStructReader] = []
|
||||
@@ -114,18 +133,21 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
|
||||
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
@@ -133,6 +155,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
if dat is not None:
|
||||
return log_from_bytes(dat)
|
||||
|
||||
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
@@ -247,6 +270,7 @@ class SubMaster:
|
||||
and self.all_freq_ok(service_list=service_list) \
|
||||
and self.all_valid(service_list=service_list)
|
||||
|
||||
|
||||
class PubMaster:
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
|
||||
@@ -0,0 +1,58 @@
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define CEREAL_EVENTS_PREFIX std::string("cereal_events")
|
||||
|
||||
void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path);
|
||||
|
||||
enum EventPurpose {
|
||||
RECV_CALLED,
|
||||
RECV_READY
|
||||
};
|
||||
|
||||
struct EventState {
|
||||
int fds[2];
|
||||
bool enabled;
|
||||
};
|
||||
|
||||
class Event {
|
||||
private:
|
||||
int event_fd = -1;
|
||||
|
||||
inline void throw_if_invalid() const {
|
||||
if (!this->is_valid()) {
|
||||
throw std::runtime_error("Event does not have valid file descriptor.");
|
||||
}
|
||||
}
|
||||
public:
|
||||
Event(int fd = -1);
|
||||
|
||||
void set() const;
|
||||
int clear() const;
|
||||
void wait(int timeout_sec = -1) const;
|
||||
bool peek() const;
|
||||
bool is_valid() const;
|
||||
int fd() const;
|
||||
|
||||
static int wait_for_one(const std::vector<Event>& events, int timeout_sec = -1);
|
||||
};
|
||||
|
||||
class SocketEventHandle {
|
||||
private:
|
||||
std::string shm_path;
|
||||
EventState* state;
|
||||
public:
|
||||
SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true);
|
||||
~SocketEventHandle();
|
||||
|
||||
bool is_enabled();
|
||||
void set_enabled(bool enabled);
|
||||
Event recv_called();
|
||||
Event recv_ready();
|
||||
|
||||
static void toggle_fake_events(bool enabled);
|
||||
static void set_fake_prefix(std::string prefix);
|
||||
static std::string fake_prefix();
|
||||
};
|
||||
@@ -0,0 +1,67 @@
|
||||
#pragma once
|
||||
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <filesystem>
|
||||
|
||||
#include <sys/mman.h>
|
||||
#include <sys/stat.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "cereal/messaging/messaging.h"
|
||||
#include "cereal/messaging/event.h"
|
||||
|
||||
template<typename TSubSocket>
|
||||
class FakeSubSocket: public TSubSocket {
|
||||
private:
|
||||
Event *recv_called = nullptr;
|
||||
Event *recv_ready = nullptr;
|
||||
EventState *state = nullptr;
|
||||
|
||||
public:
|
||||
FakeSubSocket(): TSubSocket() {}
|
||||
~FakeSubSocket() {
|
||||
delete recv_called;
|
||||
delete recv_ready;
|
||||
if (state != nullptr) {
|
||||
munmap(state, sizeof(EventState));
|
||||
}
|
||||
}
|
||||
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) override {
|
||||
const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX");
|
||||
|
||||
char* mem;
|
||||
std::string identifier = cereal_prefix != nullptr ? std::string(cereal_prefix) : "";
|
||||
event_state_shm_mmap(endpoint, identifier, &mem, nullptr);
|
||||
|
||||
this->state = (EventState*)mem;
|
||||
this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]);
|
||||
this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]);
|
||||
|
||||
return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint);
|
||||
}
|
||||
|
||||
Message *receive(bool non_blocking=false) override {
|
||||
if (this->state->enabled) {
|
||||
this->recv_called->set();
|
||||
this->recv_ready->wait();
|
||||
this->recv_ready->clear();
|
||||
}
|
||||
|
||||
return TSubSocket::receive(non_blocking);
|
||||
}
|
||||
};
|
||||
|
||||
class FakePoller: public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
|
||||
public:
|
||||
void registerSocket(SubSocket *socket) override;
|
||||
std::vector<SubSocket*> poll(int timeout) override;
|
||||
~FakePoller() {};
|
||||
};
|
||||
@@ -6,6 +6,34 @@ from libcpp.vector cimport vector
|
||||
from libcpp cimport bool
|
||||
|
||||
|
||||
cdef extern from "cereal/messaging/impl_fake.h":
|
||||
cdef cppclass Event:
|
||||
@staticmethod
|
||||
int wait_for_one(vector[Event], int) except +
|
||||
|
||||
Event()
|
||||
Event(int)
|
||||
void set()
|
||||
int clear()
|
||||
void wait(int) except +
|
||||
bool peek()
|
||||
int fd()
|
||||
|
||||
cdef cppclass SocketEventHandle:
|
||||
@staticmethod
|
||||
void toggle_fake_events(bool)
|
||||
@staticmethod
|
||||
void set_fake_prefix(string)
|
||||
@staticmethod
|
||||
string fake_prefix()
|
||||
|
||||
SocketEventHandle(string, string, bool)
|
||||
bool is_enabled()
|
||||
void set_enabled(bool)
|
||||
Event recv_called()
|
||||
Event recv_ready()
|
||||
|
||||
|
||||
cdef extern from "cereal/messaging/messaging.h":
|
||||
cdef cppclass Context:
|
||||
@staticmethod
|
||||
|
||||
Binary file not shown.
Binary file not shown.
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+1
-1
@@ -70,7 +70,7 @@ std::string string_format(const std::string& format, Args... args) {
|
||||
return std::string(buf.get(), buf.get() + size - 1);
|
||||
}
|
||||
|
||||
std::string getenv(const char* key, const char* default_val = "");
|
||||
std::string getenv(const char* key, std::string default_val = "");
|
||||
int getenv(const char* key, int default_val);
|
||||
float getenv(const char* key, float default_val);
|
||||
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "2023.05.25"
|
||||
#define COMMA_VERSION "2023.06.12"
|
||||
|
||||
+256
-255
@@ -6,262 +6,262 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|
||||
# 252 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>Harness Kit<br> |Video|
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|
||||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|
||||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>7,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 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|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
<a id="footnotes"></a>
|
||||
### Footnotes
|
||||
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
@@ -270,8 +270,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>9</sup>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>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>9</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
|
||||
<sup>10</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>11</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
+1
-6
@@ -11,7 +11,7 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
function two_init {
|
||||
# convert to no ir ctrl param
|
||||
if [ -f /data/media/0/no_ir_ctrl ]; then
|
||||
echo -n 1 > /data/params/d/dp_no_ir_ctrl
|
||||
echo -n 1 > /data/params/d/dp_device_no_ir_ctrl
|
||||
fi
|
||||
|
||||
mount -o remount,rw /system
|
||||
@@ -232,11 +232,6 @@ function two_init {
|
||||
}
|
||||
|
||||
function agnos_init {
|
||||
# wait longer for weston to come up
|
||||
if [ -f "$BASEDIR/prebuilt" ]; then
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# TODO: move this to agnos
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
|
||||
|
||||
+16
-10
@@ -42,9 +42,9 @@ BO_ 170 AccPedal: 8 DME
|
||||
SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
|
||||
SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
|
||||
SG_ AcceleratorPedalPercentage : 16|16@1+ (0.04,0) [0|100] "" XXX
|
||||
SG_ Counter_170 : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ EngineSpeed : 32|16@1- (0.25,0) [0|65535] "U/min" XXX
|
||||
SG_ EngineSpeed : 32|16@1+ (0.25,0) [0|8000] "rpm" XXX
|
||||
SG_ Checksum_170 : 0|8@1- (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 404 CruiseControl: 4 SZL
|
||||
@@ -98,10 +98,10 @@ BO_ 201 SteeringWheelAngle_DSC: 8 SZL
|
||||
SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "deg" DSC
|
||||
|
||||
BO_ 206 WheelSpeeds: 8 DSC
|
||||
SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel_FL : 0|16@1- (0.0625,0) [0|255] "kph" XXX
|
||||
SG_ Wheel_FR : 16|16@1- (0.0625,0) [0|255] "kph" XXX
|
||||
SG_ Wheel_RL : 32|16@1- (0.0625,0) [0|255] "kph" XXX
|
||||
SG_ Wheel_RR : 48|16@1- (0.0625,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 884 WheelToleranceAdjustment: 8 DSC
|
||||
|
||||
@@ -141,6 +141,10 @@ BO_ 182 DynamicCruiseControlTorqueDemand: 8 DSC
|
||||
|
||||
BO_ 186 TransmissionData: 8 EGS
|
||||
SG_ Counter_186 : 48|4@1+ (1,0) [0|14] "" XXX
|
||||
SG_ Shifting : 4|1@1+ (1,0) [0|15] "" XXX
|
||||
SG_ OutputShaftSpeed : 24|16@1- (0.125,0) [0|255] "rpm" XXX
|
||||
SG_ GearRatio : 8|8@1+ (0.05,0) [0|255] "" XXX
|
||||
SG_ GearTar : 0|4@1+ (1,-4) [0|255] "" XXX
|
||||
SG_ Checksum_186 : 40|8@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 191 RequestedWheelTorqueDriveTrain: 8 LDM
|
||||
@@ -198,6 +202,7 @@ BO_ 408 GearSelectorSwitch: 8 GWS
|
||||
BO_ 422 DistanceRoute: 8 DSC
|
||||
|
||||
BO_ 436 InstrumentClusterStatus_KOMBI: 8 CCC
|
||||
SG_ HandbrakeActive : 41|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 464 EngineData: 8 DME
|
||||
SG_ RPM_IDLG_TAR : 56|8@1+ (5,0) [0|1270] "1/min" XXX
|
||||
@@ -206,7 +211,7 @@ BO_ 464 EngineData: 8 DME
|
||||
SG_ AIP_ENG : 24|8@1+ (2,598) [600|1106] "hPa" XXX
|
||||
SG_ ST_SW_WAUP : 22|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ST_ENG_RUN : 20|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Counter_464 : 16|4@0+ (1,0) [0|14] "" XXX
|
||||
SG_ Counter_464 : 16|4@1+ (1,0) [0|14] "" XXX
|
||||
SG_ TEMP_EOI : 8|8@1+ (1,-48) [0|0] "C" XXX
|
||||
SG_ TEMP_ENG : 0|8@1+ (1,-48) [0|0] "C" XXX
|
||||
|
||||
@@ -221,7 +226,7 @@ BO_ 200 SteeringWheelAngle_slow: 6 SZL
|
||||
|
||||
BO_ 466 TransmissionDataDisplay: 8 EGS
|
||||
SG_ ShiftLeverMode : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ GearRelated_TBD : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ GearAct : 12|4@1+ (1,-4) [0|15] "" XXX
|
||||
SG_ Counter_466 : 28|4@1+ (1,0) [0|14] "" XXX
|
||||
SG_ ShiftLeverPosition : 0|4@1+ (1,0) [0|8] "" XXX
|
||||
SG_ xFF : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -720,6 +725,7 @@ BO_ 843 Seat_back_lock_status_FA: 8 SM_FA
|
||||
BO_ 845 Status_seat_back_lock_BF: 8 SM_BF
|
||||
|
||||
BO_ 847 Status_contact_handbrake: 8 JBBF
|
||||
SG_ Handbrake_push : 0|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 858 Appointment_Condition_Based_Service: 8 CCC
|
||||
|
||||
@@ -853,7 +859,6 @@ BO_ 996 Configuration_rear_view_camera_CKM: 8 CCC
|
||||
CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control: drives";
|
||||
CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
|
||||
CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
|
||||
|
||||
CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
|
||||
CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
|
||||
CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
|
||||
@@ -871,7 +876,8 @@ CM_ SG_ 169 ALIV_TORQ_2_DME "Counter TORQ_2";
|
||||
CM_ SG_ 182 TORQ_TAR_DSC "torque target DSC";
|
||||
|
||||
CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target - unit depends on locale";
|
||||
|
||||
CM_ SG_ 186 GearTar "Values corresponds to forward gears. TBD Add enums for park, reverse";
|
||||
CM_ SG_ 466 GearAct "TransmissionDataDisplay";
|
||||
CM_ SG_ 414 DSC_full_off "0x4 enabling, 0xA enabled. TBD";
|
||||
|
||||
CM_ SG_ 416 YawRate "Lateral Acceleration";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -12,6 +12,12 @@ BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 419 GEARBOX_ALT: 8 PCM
|
||||
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -87,3 +93,4 @@ CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
|
||||
|
||||
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_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ;
|
||||
|
||||
@@ -0,0 +1,113 @@
|
||||
BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
|
||||
SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 361 LKAS: 8 XXX
|
||||
SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
|
||||
SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
|
||||
SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 689 PROPILOT_HUD: 8 XXX
|
||||
SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
|
||||
SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 783 CRUISE_STATE: 3 XXX
|
||||
SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
|
||||
SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1227 LKAS_SETTINGS: 8 XXX
|
||||
SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
|
||||
VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
|
||||
VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
|
||||
VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
|
||||
VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
|
||||
VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
|
||||
@@ -0,0 +1,62 @@
|
||||
CM_ "IMPORT _nissan_common.dbc";
|
||||
|
||||
BO_ 42 SEATBELT: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
|
||||
SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 460 BRAKE_PEDAL: 8 XXX
|
||||
SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
|
||||
|
||||
BO_ 569 CRUISE_THROTTLE: 8 XXX
|
||||
SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 640 CANCEL_MSG: 8 XXX
|
||||
SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
|
||||
|
||||
BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 852 ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 853 HUD_SETTINGS: 8 XXX
|
||||
SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 856 LIGHTS: 8 XXX
|
||||
SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1057 GEARBOX: 3 XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1549 DOORS_LIGHTS: 8 XXX
|
||||
SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
@@ -0,0 +1,69 @@
|
||||
CM_ "IMPORT _nissan_common.dbc";
|
||||
|
||||
BO_ 348 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
|
||||
SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
|
||||
|
||||
BO_ 438 PRO_PILOT: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 523 CRUISE_THROTTLE: 6 XXX
|
||||
SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 665 ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
|
||||
SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
|
||||
|
||||
BO_ 1055 GEARBOX: 2 XXX
|
||||
SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1107 LIGHTS: 8 XXX
|
||||
SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1108 DOORS_LIGHTS: 8 XXX
|
||||
SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1273 HUD: 7 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
@@ -438,6 +438,12 @@ BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 419 GEARBOX_ALT: 8 PCM
|
||||
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -513,3 +519,4 @@ CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
|
||||
|
||||
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_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ;
|
||||
|
||||
@@ -76,7 +76,7 @@ BO_ 81 ADRV_0x51: 32 ADRV
|
||||
BO_ 96 ESP_STATUS: 32 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ESP_DISABLED : 42|3@1+ (1,0) [0|63] "" XXX
|
||||
SG_ TRACTION_AND_STABILITY_CONTROL : 42|3@1+ (1,0) [0|63] "" XXX
|
||||
SG_ BRAKE_PRESSURE : 128|10@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -94,6 +94,10 @@ BO_ 112 GEAR_ALT_2: 32 XXX
|
||||
BO_ 160 WHEEL_SPEEDS: 24 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ MOVING_FORWARD : 56|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -301,6 +305,8 @@ BO_ 463 CRUISE_BUTTONS: 8 XXX
|
||||
SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_PADDLE : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_PADDLE : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 474 ADRV_0x1da: 32 ADRV
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
@@ -498,8 +504,12 @@ BO_ 961 BLINKER_STALKS: 8 XXX
|
||||
BO_ 1041 DOORS_SEATBELTS: 8 XXX
|
||||
SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DRIVER_SEATBELT_LATCHED : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVER_DOOR_OPEN : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVER_DOOR : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PASSENGER_DOOR : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVER_REAR_DOOR : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PASSENGER_REAR_DOOR : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVER_SEATBELT : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PASSENGER_SEATBELT : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1043 BLINKERS: 8 XXX
|
||||
SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -551,6 +561,33 @@ BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX
|
||||
SG_ SECONDARY_LIMIT_2 : 103|8@0+ (1,0) [0|127] "" XXX
|
||||
SG_ SCHOOL_ZONE : 155|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1144 DRIVE_MODE: 8 XXX
|
||||
SG_ DRIVE_MODE : 0|16@1+ (1,-61611) [0|61611] "" XXX
|
||||
SG_ DRIVE_MODE2 : 28|3@1+ (1,0) [1|3] "" XXX
|
||||
|
||||
BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
|
||||
SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1259 LOCAL_TIME2: 8 XXX
|
||||
SG_ HOURS : 15|5@0+ (1,0) [0|31] "" XXX
|
||||
SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SECONDS : 24|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1264 LOCAL_TIME: 8 XXX
|
||||
SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
|
||||
SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
|
||||
|
||||
|
||||
CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
|
||||
@@ -570,9 +607,12 @@ VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
|
||||
VAL_ 112 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
|
||||
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_ 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";
|
||||
VAL_ 304 KNOB_POSITION 1 "R" 2 "N (on R side)" 3 "Centered" 4 "N (on D side)" 5 "D";
|
||||
VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
|
||||
VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist" ;
|
||||
VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinkers" 4 "right blinkers";
|
||||
@@ -580,3 +620,13 @@ VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "S
|
||||
VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled" ;
|
||||
VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
|
||||
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_ 1041 DRIVER_DOOR 0 "Closed" 1 "Opened";
|
||||
VAL_ 1041 PASSENGER_DOOR 0 "Closed" 1 "Opened";
|
||||
VAL_ 1041 DRIVER_REAR_DOOR 0 "Closed" 1 "Opened";
|
||||
VAL_ 1041 PASSENGER_REAR_DOOR 0 "Closed" 1 "Opened";
|
||||
VAL_ 1041 DRIVER_SEATBELT 0 "Unlatched" 1 "Latched";
|
||||
VAL_ 1041 PASSENGER_SEATBELT 0 "Unlatched" 1 "Latched";
|
||||
VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
|
||||
VAL_ 1240 DISTANCE_UNIT 1 "Miles" 0 "Kilometers";
|
||||
|
||||
@@ -1,62 +1,20 @@
|
||||
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
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _nissan_common.dbc starts here";
|
||||
BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
|
||||
SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 42 SEATBELT: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
|
||||
SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 361 LKAS: 8 XXX
|
||||
SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
|
||||
SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
|
||||
SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
|
||||
@@ -67,38 +25,6 @@ BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 460 BRAKE_PEDAL: 8 XXX
|
||||
SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
|
||||
|
||||
BO_ 569 CRUISE_THROTTLE: 8 XXX
|
||||
SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 640 CANCEL_MSG: 8 XXX
|
||||
SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
|
||||
|
||||
BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
|
||||
SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
@@ -139,19 +65,6 @@ BO_ 689 PROPILOT_HUD: 8 XXX
|
||||
BO_ 783 CRUISE_STATE: 3 XXX
|
||||
SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 852 ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 853 HUD_SETTINGS: 8 XXX
|
||||
SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 856 LIGHTS: 8 XXX
|
||||
SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1057 GEARBOX: 3 XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
|
||||
SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -193,19 +106,75 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
|
||||
SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1549 DOORS_LIGHTS: 8 XXX
|
||||
SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1227 LKAS_SETTINGS: 8 XXX
|
||||
SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
|
||||
VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
|
||||
VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
|
||||
VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
|
||||
VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
|
||||
VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
|
||||
|
||||
CM_ "nissan_leaf_2018.dbc starts here";
|
||||
|
||||
BO_ 42 SEATBELT: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
|
||||
SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 460 BRAKE_PEDAL: 8 XXX
|
||||
SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
|
||||
|
||||
BO_ 569 CRUISE_THROTTLE: 8 XXX
|
||||
SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 640 CANCEL_MSG: 8 XXX
|
||||
SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
|
||||
|
||||
BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 852 ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 853 HUD_SETTINGS: 8 XXX
|
||||
SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 856 LIGHTS: 8 XXX
|
||||
SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1057 GEARBOX: 3 XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1549 DOORS_LIGHTS: 8 XXX
|
||||
SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
@@ -1,58 +1,20 @@
|
||||
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
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _nissan_common.dbc starts here";
|
||||
BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
|
||||
SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 348 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
|
||||
SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
|
||||
|
||||
BO_ 361 LKAS: 8 XXX
|
||||
SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
|
||||
SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
|
||||
SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
|
||||
@@ -63,42 +25,10 @@ BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 438 PRO_PILOT: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 523 CRUISE_THROTTLE: 6 XXX
|
||||
SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
|
||||
SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 665 ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 689 PROPILOT_HUD: 8 XXX
|
||||
SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -132,35 +62,9 @@ BO_ 689 PROPILOT_HUD: 8 XXX
|
||||
SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
|
||||
SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
|
||||
|
||||
BO_ 783 CRUISE_STATE: 3 XXX
|
||||
SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1055 GEARBOX: 2 XXX
|
||||
SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1107 LIGHTS: 8 XXX
|
||||
SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1108 DOORS_LIGHTS: 8 XXX
|
||||
SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
|
||||
SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -205,14 +109,79 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
|
||||
BO_ 1227 LKAS_SETTINGS: 8 XXX
|
||||
SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1273 HUD: 7 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
|
||||
VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
|
||||
VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
|
||||
VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
|
||||
VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
|
||||
VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
|
||||
|
||||
CM_ "nissan_x_trail_2017.dbc starts here";
|
||||
|
||||
BO_ 348 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
|
||||
SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
|
||||
|
||||
BO_ 438 PRO_PILOT: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 523 CRUISE_THROTTLE: 6 XXX
|
||||
SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 665 ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
|
||||
SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
|
||||
|
||||
BO_ 1055 GEARBOX: 2 XXX
|
||||
SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1107 LIGHTS: 8 XXX
|
||||
SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1108 DOORS_LIGHTS: 8 XXX
|
||||
SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1273 HUD: 7 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
+134
-44
@@ -303,7 +303,8 @@ BO_ 1408 Motor_Flexia: 8 XXX
|
||||
SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1416 Motor_7: 8 XXX
|
||||
SG_ Frei_Motor_7_3 : 40|24@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Oltemperatur : 56|8@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Frei_Motor_7_3 : 40|16@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Ladedruck : 32|8@1+ (0.01,0) [0|2.54] "bar" XXX
|
||||
SG_ Vorzeichen_Motordrehzahlgradien : 31|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Motordrehzahlgradient : 24|7@1+ (1,0) [0|126] "U/min" XXX
|
||||
@@ -321,7 +322,8 @@ BO_ 1160 Motor_6: 8 XXX
|
||||
SG_ Frei_Motor_6_4 : 58|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ltemperaturschutz : 57|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ GRA_Bremseingriff_Freigabe : 56|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Frei_Motor_6_3 : 40|16@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Frei_Motor_6_3 : 48|8@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Ruckmeldung_Momenten : 40|8@1+ (0.39,0) [0|100] "" XXX
|
||||
SG_ GRA_Sollbeschleunigung : 32|8@1+ (0.024,-3.984) [-3.984|2.112] "m/s2" XXX
|
||||
SG_ Hoeheninfo__Motor_6_ : 24|8@1+ (0.00787,0) [0|2] "" XXX
|
||||
SG_ Istmoment_f_r_Getriebe : 16|8@1+ (0.39,0) [0|99] "MDI" XXX
|
||||
@@ -770,25 +772,19 @@ BO_ 1340 Fahrwerk_1: 1 XXX
|
||||
SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1472 EPB_1: 8 XXX
|
||||
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX
|
||||
SG_ EP1_Failure_gelb : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Failure_BKL : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Failureeintr : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "g" XXX
|
||||
SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "g" XXX
|
||||
SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX
|
||||
SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Fehler_Sta : 4|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ EP1_Sta_EPB : 6|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Failure_Sta : 4|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "Unit_KiloNewto" XXX
|
||||
SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "Unit_PerCentOfForceOfGravi" XXX
|
||||
SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "Unit_MeterPerSeconSquar" XXX
|
||||
SG_ EP1_Fehlereintr : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_AutoHold_zul : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_AutoHold_active : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_AutoHold_aktiv : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_SleepInd : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Status_Kl_15 : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Lampe_AutoP : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -797,9 +793,15 @@ BO_ 1472 EPB_1: 8 XXX
|
||||
SG_ EP1_Warnton2 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_AnfShLock : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EPB_Autoholdlampe : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_QualNeigWi : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_KuppModBer : 45|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ EP1_HydrHalten : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_QualNeigWi : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1_Fehler_BKL : 50|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ EP1_Fehler_gelb : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX
|
||||
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1326 Diag_Lenkhilfe: 3 XXX
|
||||
SG_ Werkstattcode__Diag_ : 16|8@1+ (1,0) [0|0] "" XXX
|
||||
@@ -1169,28 +1171,39 @@ BO_ 644 Motor_Bremse: 6 XXX
|
||||
SG_ MOB_Bremsstgr : 16|11@1+ (0.048852,0) [0|100] "Unit_PerCent" Vector__XXX
|
||||
SG_ MOB_Bremsmom : 27|13@1+ (4,0) [0|32760] "Unit_NewtoMeter" Bremse_MK25AESP
|
||||
|
||||
BO_ 870 AWV: 5 XXX
|
||||
SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Bremsbooster
|
||||
SG_ AWV_Infoton : 38|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster
|
||||
SG_ AWV_2_Warnsymbol : 37|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster
|
||||
SG_ AWV_2_Warnton : 36|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster
|
||||
SG_ AWV_2_Ruckprofil : 33|3@1+ (1,0) [0|7] "" Bremsbooster
|
||||
SG_ AWV_2_Freigabe : 32|1@1+ (1,0) [0|1] "" Bremsbooster
|
||||
SG_ AWV_2_Umfeldwarn : 31|1@1+ (1,0) [0|1] "" Bremsbooster
|
||||
SG_ AWV_2_SU_Lampe : 30|1@1+ (1,0) [0|1] "" Bremsbooster
|
||||
SG_ AWV_2_SU_Gong : 29|1@1+ (1,0) [0|1] "" Bremsbooster
|
||||
SG_ AWV_2_SU_Bremsruck : 28|1@1+ (1,0) [0|1] "" Bremsbooster
|
||||
SG_ AWV_2_SU_Warnzeit : 26|2@1+ (1,0) [0|3] "" Bremsbooster
|
||||
SG_ AWV_2_Fehler : 25|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster
|
||||
SG_ AWV_2_Status : 24|1@1+ (1,0) [0|1] "" Gateway_Kbi_VW_A,Bremsbooster
|
||||
SG_ AWV_res_20 : 20|4@1+ (1,0) [0|0] "" Bremsbooster
|
||||
SG_ AWV_1_Parameter : 18|2@1+ (1,0) [0|3] "" Bremsbooster
|
||||
SG_ AWV_1_Prefill : 17|1@1+ (1,0) [0|1] "" Bremsbooster
|
||||
SG_ AWV_1_Freigabe : 16|1@1+ (1,0) [0|1] "" Bremsbooster
|
||||
SG_ AWV_Text : 12|4@1+ (1,0) [0|15] "" Gateway_Kbi_VW_A,Bremsbooster
|
||||
SG_ AWV_Zaehler : 8|4@1+ (1,0) [0|15] "" Bremsbooster
|
||||
SG_ AWV_Checksumme : 0|8@1+ (1,0) [0|255] "" Bremsbooster
|
||||
|
||||
BO_ 870 AWV: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ AWV_Text : 12|4@1+ (1,0) [0|14] "" Vector__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_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
|
||||
SG_ AWV_2_Status : 24|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_Fehler : 25|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_SU_Warnzeit : 26|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ AWV_2_SU_Bremsruck : 28|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_SU_Gong : 29|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_SU_Lampe : 30|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_Umfeldwarn : 31|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_Freigabe : 32|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_Ruckprofil : 33|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
SG_ AWV_2_Warnton : 36|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_Warnsymbol : 37|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_Infoton : 38|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_Konfiguration_Menueanf : 40|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_Konfiguration_Vorw_Menueanf : 41|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_Konfiguration_Status : 42|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_Konfiguration_Vorw_Status : 43|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ AWV_2_Abstandswarnung : 51|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ANB_Zielbremsung_Freigabe : 52|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ANB_CM_Anforderung : 53|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ ANB_Ziel_Teilbrems_Verz_Anf : 54|10@1+ (0.024,-20.016) [0|1023] "Unit_MeterPerSeconSquar" Vector__XXX
|
||||
|
||||
BO_ 1470 LDW_Status: 8 XXX
|
||||
SG_ LDW_Lernmodus_rechts : 0|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LDW_Lernmodus_links : 2|2@1+ (1,0) [0|3] "" XXX
|
||||
@@ -1473,6 +1486,7 @@ CM_ SG_ 640 mechanisches_Motor_Verlustmomen "Mechanical Torque Loss";
|
||||
CM_ SG_ 640 Fahrpedalwert_oder_Drosselklapp "Accelerator Pedal or Throttle Position";
|
||||
CM_ SG_ 640 Motordrehzahl "Engine Speed";
|
||||
CM_ SG_ 640 Momentenangaben_ungenau "Approximate Torque Values";
|
||||
CM_ SG_ 640 inneres_Motor_Moment_ohne_exter "Inner torque without external";
|
||||
|
||||
CM_ SG_ 644 MOB_CHECKSUM "Checksum MOB";
|
||||
CM_ SG_ 644 MOB_COUNTER "Counter MOB";
|
||||
@@ -1503,6 +1517,9 @@ CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent";
|
||||
|
||||
CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1";
|
||||
CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position";
|
||||
CM_ SG_ 1088 inneres_Soll_Motormoment "Desired Inner Torque";
|
||||
CM_ SG_ 1088 Schaltabsicht "Shift Intent";
|
||||
CM_ SG_ 1088 Wandlerverlustmoment "Converter Torque Loss";
|
||||
|
||||
CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error";
|
||||
CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error";
|
||||
@@ -1513,15 +1530,30 @@ CM_ SG_ 1056 Kuehlmitteltemp__4_1__Kombi_2_ "kombi coolant temperature";
|
||||
|
||||
CM_ SG_ 1096 Zaehler_Waehlhebel_1 "Counter Waehlhebel_1";
|
||||
|
||||
CM_ SG_ 1152 Checksumme_Motor_5 "Checksum Motor_5";
|
||||
CM_ SG_ 1152 CHECKSUM "Checksum Motor_5";
|
||||
CM_ SG_ 1152 Anlasser_Ausspuren "Starter Disable";
|
||||
CM_ SG_ 1152 Anlasser_Freigabe "Starter Release";
|
||||
CM_ SG_ 1152 Klimadrucksignal__Motor_5_ "Air conditioning pressure signal";
|
||||
CM_ SG_ 1152 Kraftstoffverbrauchssignal "Fuel consumption signal";
|
||||
CM_ SG_ 1152 K_hlerluefteransteuerung "Cooling fan control signal";
|
||||
CM_ SG_ 1152 Klimakompressor_Leistungsreduzi "Air conditioning compressor power reduction flag";
|
||||
CM_ SG_ 1152 Klimakompressor_aus__Motor_5_ "Air conditioning compressor";
|
||||
CM_ SG_ 1152 Anlasser_Freigabe "Starter release";
|
||||
CM_ SG_ 1152 OBD_2_Lampe "OBD light";
|
||||
CM_ SG_ 1152 E_Gas_Lampe "ETB light";
|
||||
CM_ SG_ 1152 Ladekontroll_Lampe "Charge light";
|
||||
CM_ SG_ 1152 Vorgluehlampe__Motor_5_ "Glow light";
|
||||
|
||||
CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6";
|
||||
CM_ SG_ 1160 Hoeheninfo__Motor_6_ "Altitude Correction";
|
||||
CM_ SG_ 1160 Istmoment_f_r_Getriebe "Actual Torque";
|
||||
CM_ SG_ 1160 Sollmoment_f_r_Getriebe "Target Torque";
|
||||
CM_ SG_ 1160 Istmoment_f_r_Getriebe "Actual torque for gear";
|
||||
CM_ SG_ 1160 Sollmoment_f_r_Getriebe "Target torque for gearbox";
|
||||
CM_ SG_ 1160 Checksumme_Motor_6 "Checksum Motor_6";
|
||||
CM_ SG_ 1160 GRA_Sollbeschleunigung "GRA target acceleration";
|
||||
CM_ SG_ 1160 Ruckmeldung_Momenten "Feedback torque-integral gear intervention";
|
||||
|
||||
CM_ SG_ 1344 Zahler_Getriebe_2 "Counter Getriebe_2";
|
||||
CM_ SG_ 1344 Hochschaltlampe "Upshift Flag";
|
||||
|
||||
CM_ SG_ 1386 ACA_V_Wunsch "255=unset";
|
||||
|
||||
@@ -1536,6 +1568,9 @@ CM_ SG_ 1408 Ansaugsystem "Induction System";
|
||||
CM_ SG_ 1408 Motorleistung "Maximum engine power";
|
||||
|
||||
CM_ SG_ 1416 Ladedruck "Boost Pressure";
|
||||
CM_ SG_ 1416 Motordrehzahlgradient "Engine speed gradient";
|
||||
CM_ SG_ 1416 Hoeheninfo__Motor_7_ "Altitude correction factor";
|
||||
CM_ SG_ 1416 Oltemperatur "Oil temperature";
|
||||
|
||||
CM_ SG_ 1470 LDW_Direction "0=right,1=left";
|
||||
CM_ SG_ 1470 XX_DLCORTLC1 "Might be DLC or TLC";
|
||||
@@ -1543,6 +1578,34 @@ CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size";
|
||||
|
||||
CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
|
||||
|
||||
VAL_ 870 AWV_Text 0 "kein_Text" 1 "FrontAssist_aus" 2 "FrontAssist_startet" 3 "FrontAssist_Warnung" 4 "FrontAssist_Sens_reinig" 5 "FrontAssist_Failure" 6 "FrontAssist_Demo" 7 "Vorhalt" 8 "Bremsung_wird_gerade_durchgefuehrt" 9 "Sensor_not_verfuegbar" 10 "Sensor_reinigen" 11 "Service_notwendig_Failure" 12 "Funktion_vom_Fahrer_deactivated" 13 "Funktion_vom_Fahrer_activated" 14 "FrontAssist_zur_Zeit_not_verfuegbar__rev_Failure";
|
||||
VAL_ 870 AWV_1_Freigabe 0 "nicht_freigegeben" 1 "freigegeben";
|
||||
VAL_ 870 AWV_1_Prefill 0 "keine_Prefill_Anf" 1 "Prefill_Anf";
|
||||
VAL_ 870 AWV_1_Parameter 0 "Defaultparametersatz" 1 "Par_leicht_erh_Empf" 2 "Par_erh_Empf" 3 "Par_hoechster_Empf";
|
||||
VAL_ 870 AWV_only 0 "ACC_und_AWV_verbaut" 1 "AWV_ohne_ACC_verbaut";
|
||||
VAL_ 870 AWV_CityANB_Auspraegung 0 "autom_Bremsung_im_ges_vBereich" 1 "autom_Bremsung_im_def_vBereich";
|
||||
VAL_ 870 AWV_Halten 0 "keine_Anforderung" 1 "Anforderung_das_Fzg_im_Stillstand_zu_halten";
|
||||
VAL_ 870 ANB_Teilbremsung_Freigabe 0 "Teilbremsung_nicht_freigegeben" 1 "Teilbremsung_freigegeben";
|
||||
VAL_ 870 AWV_2_Status 0 "Lampe_aus" 1 "Lampe_ein";
|
||||
VAL_ 870 AWV_2_Fehler 0 "Lampe_aus" 1 "Lampe_ein";
|
||||
VAL_ 870 AWV_2_SU_Warnzeit 0 "frueh" 1 "normal" 2 "spaet" 3 "adaptiv";
|
||||
VAL_ 870 AWV_2_SU_Bremsruck 0 "Bremsruck_deaktiviert" 1 "Bremsruck_aktiviert";
|
||||
VAL_ 870 AWV_2_SU_Gong 0 "Gong_deaktiviert" 1 "Gong_aktiviert";
|
||||
VAL_ 870 AWV_2_SU_Lampe 0 "Lampe_deaktiviert" 1 "Lampe_aktiviert";
|
||||
VAL_ 870 AWV_2_Umfeldwarn 0 "keine_Warnung" 1 "Warnung";
|
||||
VAL_ 870 AWV_2_Freigabe 0 "keine_Ruckfreigabe" 1 "Ruckfreigabe";
|
||||
VAL_ 870 AWV_2_Ruckprofil 0 "kein_Ruck" 1 "Ruckprofil_1" 2 "Ruckprofil_2" 3 "Ruckprofil_3" 4 "Ruckprofil_4" 5 "Ruckprofil_5" 6 "not_erlaubt" 7 "not_erlaubt";
|
||||
VAL_ 870 AWV_2_Warnton 0 "Aus" 1 "Ein";
|
||||
VAL_ 870 AWV_2_Warnsymbol 0 "Aus" 1 "Ein";
|
||||
VAL_ 870 AWV_Infoton 0 "Aus" 1 "Ein";
|
||||
VAL_ 870 AWV_2_Gurtstraffer 0 "Gurt_not_straffen" 1 "Gurt_straffen";
|
||||
VAL_ 870 AWV_Konfiguration_Menueanf 0 "Menue_deaktivieren" 1 "Menue_aktivieren";
|
||||
VAL_ 870 AWV_Konfiguration_Vorw_Menueanf 0 "Menue_deaktivieren" 1 "Menue_aktivieren";
|
||||
VAL_ 870 AWV_Konfiguration_Status 0 "AWV_inaktiv" 1 "AWV_aktiv";
|
||||
VAL_ 870 AWV_Konfiguration_Vorw_Status 0 "AWV_Vorwarnung_inaktiv" 1 "AWV_Vorwarnung_aktiv";
|
||||
VAL_ 870 AWV_2_Abstandswarnung 0 "kein_Warnhinweis" 1 "Warnhinweis";
|
||||
VAL_ 870 ANB_Zielbremsung_Freigabe 0 "Zielbremsung_nicht_freigegeben" 1 "Zielbremsung_freigegeben";
|
||||
VAL_ 870 ANB_CM_Anforderung 0 "keine_Anforderung" 1 "Anforderung_aktiv";
|
||||
|
||||
VAL_ 872 ACS_Sta_ADR 2 "ADR_passiv" 0 "ADR_nicht_aktiv" 1 "ADR_aktiv" 3 "irrev_Fehler" ;
|
||||
VAL_ 872 ACS_ADR_Schub 1 "Verz_begr_auf_Schub" 0 "Verz_nicht_begr_auf_Schub" ;
|
||||
@@ -1577,3 +1640,30 @@ VAL_ 1386 ACA_ID_StaGRA 0 "keine_Anzeige" ;
|
||||
VAL_ 1386 ACA_Codierung 0 "ACC" 1 "GRA" ;
|
||||
VAL_ 1386 ACA_Tachokranz 0 "nicht_beleuchtet" 1 "beleuchtet" ;
|
||||
VAL_ 1386 ACA_Aend_Zeitluecke 1 "Anzeige_angef" 0 "keine_Anzeige" ;
|
||||
|
||||
VAL_ 1472 EP1_Fehler_Sta 0 "volle_Funktion" 1 "linke_Seite_fehlerhaft" 2 "rechte_Seite_fehlerhaft" 3 "beide_Seiten_fehlerhaft";
|
||||
VAL_ 1472 EP1_Sta_EPB 0 "Bremse_geoeffnet" 1 "Bremse_geschlossen";
|
||||
VAL_ 1472 EP1_Sta_Schalter 0 "volle_Funktion" 1 "Schalter_ausser_Funktion";
|
||||
VAL_ 1472 EP1_Spannkraft 31 "Fehler";
|
||||
VAL_ 1472 EP1_Schalterinfo 0 "keine_Fahreranforderung" 1 "Fahreranforderung_oeffnen" 2 "Fahreranforderung_schliessen" 3 "Schalterfehler";
|
||||
VAL_ 1472 EP1_Sta_NWS 0 "volle_Funktion" 1 "keine_Funktion";
|
||||
VAL_ 1472 EP1_Fehlereintr 0 "kein_Fehlerspeichereintrag" 1 "Fehlerspeichereintrag";
|
||||
VAL_ 1472 EP1_Freigabe_Ver 0 "Verzoegerungsanf_nicht_freigegeb" 1 "Verzoegerungsanf_freigegeben";
|
||||
VAL_ 1472 EP1_AutoHold_zul 0 "Pers_nicht_zulaessig" 1 "Pers_zulaessig";
|
||||
VAL_ 1472 EP1_AutoHold_aktiv 0 "nein" 1 "ja";
|
||||
VAL_ 1472 EP1_SleepInd 0 "CAN_wird_benoetigt" 1 "Sleep_bereit";
|
||||
VAL_ 1472 EP1_Status_Kl_15 0 "Kl_15_aus" 1 "Kl_15_ein";
|
||||
VAL_ 1472 EP1_Lampe_AutoP 0 "Lampe_aus" 1 "Lampe_ein";
|
||||
VAL_ 1472 EP1_Bremslicht 0 "Aus" 1 "Ein";
|
||||
VAL_ 1472 EP1_Warnton1 0 "Aus" 1 "Ein";
|
||||
VAL_ 1472 EP1_Warnton2 0 "Aus" 1 "Ein";
|
||||
VAL_ 1472 EP1_AnfShLock 0 "Aus" 1 "Ein";
|
||||
VAL_ 1472 EPB_Autoholdlampe 0 "Lampe_aus" 1 "Lampe_ein";
|
||||
VAL_ 1472 EP1_QualNeigWi 0 "gueltiger_Wert" 1 "Ersatz_Init_oder_Fehlerwert";
|
||||
VAL_ 1472 EP1_KuppModBer 0 "Kuppsensor_aus_Modbereich" 1 "Kupplsensor_im_Modbereich" 2 "Sensorsignal_ungenau" 3 "Sensor_defekt";
|
||||
VAL_ 1472 EP1_HydrHalten 0 "Fzg_nicht_hydr_geh" 1 "Fzg_hydr_geh";
|
||||
VAL_ 1472 EP1_Fkt_Lampe 0 "Lampe_aus" 1 "Lampe_ein";
|
||||
VAL_ 1472 EP1_Warnton 0 "Warnton_aus" 1 "Warnton_an";
|
||||
VAL_ 1472 EP1_Fehler_BKL 0 "BKL_aus" 1 "BKL_an";
|
||||
VAL_ 1472 EP1_Fehler_gelb 0 "Lampe_aus" 1 "Lampe_ein";
|
||||
VAL_ 1472 EP1__Text 0 "kein_Text" 1 "Text_1" 2 "Text_2" 3 "Text_3" 4 "Text_4" 5 "Text_5" 6 "reserviert" 7 "reserviert" 8 "Text_8";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -529,13 +529,15 @@ class Panda:
|
||||
return True
|
||||
|
||||
@staticmethod
|
||||
def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
|
||||
def wait_for_dfu(dfu_serial: Optional[str], timeout: Optional[int] = None) -> bool:
|
||||
t_start = time.monotonic()
|
||||
while dfu_serial not in PandaDFU.list():
|
||||
dfu_list = PandaDFU.list()
|
||||
while (dfu_serial is None and len(dfu_list) == 0) or (dfu_serial is not None and dfu_serial not in dfu_list):
|
||||
logging.debug("waiting for DFU...")
|
||||
time.sleep(0.1)
|
||||
if timeout is not None and (time.monotonic() - t_start) > timeout:
|
||||
return False
|
||||
dfu_list = PandaDFU.list()
|
||||
return True
|
||||
|
||||
def up_to_date(self) -> bool:
|
||||
@@ -626,12 +628,6 @@ class Panda:
|
||||
|
||||
# ******************* control *******************
|
||||
|
||||
def enter_bootloader(self):
|
||||
try:
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'')
|
||||
except Exception:
|
||||
logging.exception("exception while entering bootloader")
|
||||
|
||||
def get_version(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
|
||||
|
||||
|
||||
+1
-1
@@ -77,7 +77,7 @@ class STBootloaderUSBHandle(BaseSTBootloaderHandle):
|
||||
self._status()
|
||||
|
||||
# Program
|
||||
bs = self._mcu_type.config.block_size
|
||||
bs = min(len(dat), self._mcu_type.config.block_size)
|
||||
dat += b"\xFF" * ((bs - len(dat)) % bs)
|
||||
for i in range(0, len(dat) // bs):
|
||||
ldat = dat[i * bs:(i + 1) * bs]
|
||||
|
||||
Binary file not shown.
@@ -8,7 +8,7 @@ msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2023-05-24 11:59+0800\n"
|
||||
"POT-Creation-Date: 2023-06-12 11:20+0800\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
@@ -465,15 +465,12 @@ msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:830
|
||||
#: ../selfdrive/controls/lib/events.py:832
|
||||
#: ../selfdrive/controls/lib/events.py:897
|
||||
#: ../selfdrive/controls/lib/events.py:899
|
||||
#: ../selfdrive/controls/lib/events.py:956
|
||||
#: ../selfdrive/controls/lib/events.py:950
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:831
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
#: ../selfdrive/controls/lib/events.py:949
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr ""
|
||||
|
||||
@@ -530,73 +527,73 @@ msgstr ""
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:904
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:908
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
#: ../selfdrive/controls/lib/events.py:902
|
||||
#: ../selfdrive/controls/lib/events.py:903
|
||||
msgid "Reverse Gear"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:915
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
msgid "Cruise Is Off"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:922
|
||||
#: ../selfdrive/controls/lib/events.py:923
|
||||
#: ../selfdrive/controls/lib/events.py:916
|
||||
#: ../selfdrive/controls/lib/events.py:917
|
||||
msgid "Planner Solution Error"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:931
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
#: ../selfdrive/controls/lib/events.py:925
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
#: ../selfdrive/controls/lib/events.py:927
|
||||
msgid "Harness Relay Malfunction"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
msgid "Check Hardware"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:938
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
msgid "openpilot Canceled"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:939
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
msgid "Speed too low"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:947
|
||||
#: ../selfdrive/controls/lib/events.py:941
|
||||
msgid "Speed Too High"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:948
|
||||
#: ../selfdrive/controls/lib/events.py:942
|
||||
msgid "Model uncertain at this speed"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:951
|
||||
#: ../selfdrive/controls/lib/events.py:945
|
||||
msgid "Slow down to engage"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:954
|
||||
msgid "LKAS Disabled: Enable LKAS to engage"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
msgid "LKAS Disabled"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:965
|
||||
#: ../selfdrive/controls/lib/events.py:959
|
||||
msgid "Vehicle Sensors Invalid"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:967
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
msgid "Vehicle Sensors Calibrating"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
msgid "Drive to Calibrate"
|
||||
msgstr ""
|
||||
|
||||
@@ -7,7 +7,7 @@ msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2023-05-24 11:41+0800\n"
|
||||
"POT-Creation-Date: 2023-06-08 16:04+0800\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: nikkurie <@nikkurie>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
@@ -502,15 +502,12 @@ msgstr "ローメモリ:デバイスを再起動"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:830
|
||||
#: ../selfdrive/controls/lib/events.py:832
|
||||
#: ../selfdrive/controls/lib/events.py:897
|
||||
#: ../selfdrive/controls/lib/events.py:899
|
||||
#: ../selfdrive/controls/lib/events.py:956
|
||||
#: ../selfdrive/controls/lib/events.py:950
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "クルーズ失敗:車を再起動"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:831
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
#: ../selfdrive/controls/lib/events.py:949
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "クルーズ失敗:車を再起動後発進"
|
||||
|
||||
@@ -569,78 +566,78 @@ msgstr "LKASの故障:車を再起動"
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKASの故障:車を再起動後発進"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:904
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr "Rに切り替え"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:908
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
#: ../selfdrive/controls/lib/events.py:902
|
||||
#: ../selfdrive/controls/lib/events.py:903
|
||||
msgid "Reverse Gear"
|
||||
msgstr "Rに切り替え"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:915
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "クルーズコントロールオフ"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:922
|
||||
#: ../selfdrive/controls/lib/events.py:923
|
||||
#: ../selfdrive/controls/lib/events.py:916
|
||||
#: ../selfdrive/controls/lib/events.py:917
|
||||
msgid "Planner Solution Error"
|
||||
msgstr "Planner Solution エラー"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:931
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
#: ../selfdrive/controls/lib/events.py:925
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
#: ../selfdrive/controls/lib/events.py:927
|
||||
#, fuzzy
|
||||
msgid "Harness Relay Malfunction"
|
||||
msgstr "ハーネスが故障"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
#, fuzzy
|
||||
msgid "Check Hardware"
|
||||
msgstr "ハードウェアを確認して"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:938
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "オープンパイロットはキャンセルされました"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:939
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
msgid "Speed too low"
|
||||
msgstr "速度が遅すぎる"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:947
|
||||
#: ../selfdrive/controls/lib/events.py:941
|
||||
msgid "Speed Too High"
|
||||
msgstr "速度が速すぎる"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:948
|
||||
#: ../selfdrive/controls/lib/events.py:942
|
||||
msgid "Model uncertain at this speed"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:951
|
||||
#: ../selfdrive/controls/lib/events.py:945
|
||||
msgid "Slow down to engage"
|
||||
msgstr "速度を落として発進"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:954
|
||||
#, fuzzy
|
||||
msgid "LKAS Disabled: Enable LKAS to engage"
|
||||
msgstr "LKASの故障:車を再起動後発進"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
msgid "LKAS Disabled"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:965
|
||||
#: ../selfdrive/controls/lib/events.py:959
|
||||
msgid "Vehicle Sensors Invalid"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:967
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
msgid "Vehicle Sensors Calibrating"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#, fuzzy
|
||||
msgid "Drive to Calibrate"
|
||||
msgstr "ドライバーは注意力散漫"
|
||||
|
||||
@@ -8,7 +8,7 @@ msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2023-05-24 11:41+0800\n"
|
||||
"POT-Creation-Date: 2023-06-08 16:04+0800\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
@@ -502,15 +502,12 @@ msgstr "메모리 부족: 장치를 재시작하세요"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:830
|
||||
#: ../selfdrive/controls/lib/events.py:832
|
||||
#: ../selfdrive/controls/lib/events.py:897
|
||||
#: ../selfdrive/controls/lib/events.py:899
|
||||
#: ../selfdrive/controls/lib/events.py:956
|
||||
#: ../selfdrive/controls/lib/events.py:950
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "크루즈 오류: 차량을 재시작하세요"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:831
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
#: ../selfdrive/controls/lib/events.py:949
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "크루즈 오류: 시작을 위해 차량을 재시작하세요"
|
||||
|
||||
@@ -569,78 +566,78 @@ msgstr "LKAS 오류: 차량을 재시작하세요"
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKAS 오류: 시작을 위해 차량을 재시작하세요"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:904
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr "후진 기어"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:908
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
#: ../selfdrive/controls/lib/events.py:902
|
||||
#: ../selfdrive/controls/lib/events.py:903
|
||||
msgid "Reverse Gear"
|
||||
msgstr "후진 기어"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:915
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "크루즈 꺼짐"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:922
|
||||
#: ../selfdrive/controls/lib/events.py:923
|
||||
#: ../selfdrive/controls/lib/events.py:916
|
||||
#: ../selfdrive/controls/lib/events.py:917
|
||||
msgid "Planner Solution Error"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:931
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
#: ../selfdrive/controls/lib/events.py:925
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
#: ../selfdrive/controls/lib/events.py:927
|
||||
#, fuzzy
|
||||
msgid "Harness Relay Malfunction"
|
||||
msgstr "하네스 오작동"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
#, fuzzy
|
||||
msgid "Check Hardware"
|
||||
msgstr "장치를 점검하세요"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:938
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "오픈파일럿 시작불가"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:939
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
msgid "Speed too low"
|
||||
msgstr "선행차량이 없습니다"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:947
|
||||
#: ../selfdrive/controls/lib/events.py:941
|
||||
msgid "Speed Too High"
|
||||
msgstr "속도가 너무 높습니다"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:948
|
||||
#: ../selfdrive/controls/lib/events.py:942
|
||||
msgid "Model uncertain at this speed"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:951
|
||||
#: ../selfdrive/controls/lib/events.py:945
|
||||
msgid "Slow down to engage"
|
||||
msgstr "시작을 위해 차량의 속도를 낮추세요"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:954
|
||||
#, fuzzy
|
||||
msgid "LKAS Disabled: Enable LKAS to engage"
|
||||
msgstr "LKAS 오류: 시작을 위해 차량을 재시작하세요"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
msgid "LKAS Disabled"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:965
|
||||
#: ../selfdrive/controls/lib/events.py:959
|
||||
msgid "Vehicle Sensors Invalid"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:967
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
msgid "Vehicle Sensors Calibrating"
|
||||
msgstr ""
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#, fuzzy
|
||||
msgid "Drive to Calibrate"
|
||||
msgstr "운전자 전방주시 불안"
|
||||
|
||||
Binary file not shown.
@@ -7,32 +7,32 @@ msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2023-05-24 11:41+0800\n"
|
||||
"POT-Creation-Date: 2023-06-08 16:04+0800\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: Rick Lan <ricklan@gmail.com>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
"Language: zh-CN\n"
|
||||
"Language: zh-TW\n"
|
||||
"MIME-Version: 1.0\n"
|
||||
"Content-Type: text/plain; charset=UTF-8\n"
|
||||
"Content-Transfer-Encoding: 8bit\n"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:152
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr "openpilot无法启动"
|
||||
msgstr "无法使用 dragonpilot"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:161
|
||||
#: ../selfdrive/controls/lib/events.py:176
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr "危险！立刻人工接管车辆！"
|
||||
msgstr "立即接管控制"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:171
|
||||
#, fuzzy
|
||||
msgid "openpilot will disengage"
|
||||
msgstr "openpilot无法启动"
|
||||
msgstr "dragonpilot 将解除"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:198
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
msgstr "将手放在方向盘上并持续注意路面情况"
|
||||
msgstr "请保持双手握住方向盘并注意道路情况"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:235
|
||||
msgid "WARNING: This branch is not tested"
|
||||
@@ -41,70 +41,70 @@ msgstr "注意：这个分支未经过测试"
|
||||
#: ../selfdrive/controls/lib/events.py:238
|
||||
#, fuzzy, python-brace-format
|
||||
msgid "Drive above {speed} to engage"
|
||||
msgstr "车速请高于 %(speed)d %(unit)s"
|
||||
msgstr "请以超过 {speed} 的速度行驶以启动"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:243
|
||||
#, fuzzy, python-format
|
||||
msgid "Steer Unavailable Below %s"
|
||||
msgstr "转向控制暂时失效，车速低于 %d %s"
|
||||
msgstr "在 %s 以下无法进行转向"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:250
|
||||
#, fuzzy
|
||||
msgid "Recalibration"
|
||||
msgstr "校准无效"
|
||||
msgstr "重新校准"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:250
|
||||
#, fuzzy
|
||||
msgid "Calibration"
|
||||
msgstr "校准无效"
|
||||
msgstr "校准"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:252
|
||||
#, fuzzy, python-brace-format
|
||||
msgid "{word} in Progress: {perc}%"
|
||||
msgstr "正在校准中：%d%%"
|
||||
msgstr "{word}进行中：{perc}%"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:253
|
||||
#, fuzzy, python-brace-format
|
||||
msgid "Drive Above {speed}"
|
||||
msgstr "车速请高于 %(speed)d %(unit)s"
|
||||
msgstr "行驶超过 {speed}"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:260
|
||||
msgid "Poor GPS reception"
|
||||
msgstr "GPS 信号不良"
|
||||
msgstr "GPS 讯号不良"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:261
|
||||
msgid "Hardware malfunctioning if sky is visible"
|
||||
msgstr ""
|
||||
msgstr "若天空可见，表示硬体出现故障"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:269
|
||||
#: ../selfdrive/controls/lib/events.py:678
|
||||
msgid "Out of Storage"
|
||||
msgstr "存储空间不足"
|
||||
msgstr "储存空间不足"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:269
|
||||
#, python-format
|
||||
msgid "%s%% full"
|
||||
msgstr ""
|
||||
msgstr "%s%% 已满"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:275
|
||||
#, python-brace-format
|
||||
msgid "Speed Error: {err:.1f} m/s"
|
||||
msgstr ""
|
||||
msgstr "速度误差：{err:.1f} m/s"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:276
|
||||
#: ../selfdrive/controls/lib/events.py:806
|
||||
msgid "Posenet Speed Invalid"
|
||||
msgstr ""
|
||||
msgstr "Posenet 速度无效"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:282
|
||||
#: ../selfdrive/controls/lib/events.py:783
|
||||
msgid "Process Not Running"
|
||||
msgstr ""
|
||||
msgstr "行程未执行"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:288
|
||||
#, fuzzy
|
||||
msgid "Communication Issue Between Processes"
|
||||
msgstr "进程间出现通讯问题"
|
||||
msgstr "行程间出现通讯问题"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:294
|
||||
#: ../selfdrive/controls/lib/events.py:571
|
||||
@@ -114,7 +114,7 @@ msgstr "摄像头故障"
|
||||
#: ../selfdrive/controls/lib/events.py:301
|
||||
#, python-brace-format
|
||||
msgid "Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
|
||||
msgstr ""
|
||||
msgstr "重新安装设备（俯仰角: {pitch:.1f}°，偏航角: {yaw:.1f}°）"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:302
|
||||
msgid "Calibration Invalid"
|
||||
@@ -128,21 +128,21 @@ msgstr "系统过热"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:313
|
||||
msgid "Low Memory"
|
||||
msgstr "内存过低"
|
||||
msgstr "记忆体过低"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:313
|
||||
#, python-format, python-brace-format
|
||||
msgid "{memory_usage_percent}% used"
|
||||
msgstr ""
|
||||
msgstr "已使用 {memory_usage_percent}% 的记忆体"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:318
|
||||
msgid "High CPU Usage"
|
||||
msgstr ""
|
||||
msgstr "CPU 使用量偏高"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:318
|
||||
#, python-format
|
||||
msgid "%s%% used"
|
||||
msgstr ""
|
||||
msgstr "已使用 %s%%"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:322
|
||||
#: ../selfdrive/controls/lib/events.py:795
|
||||
@@ -154,35 +154,36 @@ msgstr "操控模型有延迟"
|
||||
#: ../selfdrive/controls/lib/events.py:322
|
||||
#, python-format, python-brace-format
|
||||
msgid "{frame_drop_perc:.1f}% frames dropped"
|
||||
msgstr ""
|
||||
msgstr "已遗失 {frame_drop_perc:.1f}% 帧数"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:326
|
||||
#, fuzzy
|
||||
msgid "Enable Adaptive Cruise to Engage"
|
||||
msgstr "启用自适应巡航"
|
||||
msgstr "启用自适应巡航以启动"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:328
|
||||
#, fuzzy
|
||||
msgid "Enable Main Switch to Engage"
|
||||
msgstr "请于设置里启用社群开发功能"
|
||||
msgstr "启用主开关以启动"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:335
|
||||
#, python-brace-format
|
||||
msgid "Gas: {gas_percent}%, Steer: {steer_percent}%"
|
||||
msgstr ""
|
||||
msgstr "油门：{gas_percent}%，转向：{steer_percent}%"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:339
|
||||
#: ../selfdrive/controls/lib/events.py:352
|
||||
msgid "Joystick Mode"
|
||||
msgstr "手柄控制模式"
|
||||
msgstr "摇杆控制模式"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:356
|
||||
#, fuzzy
|
||||
msgid "System Initializing"
|
||||
msgstr ""
|
||||
msgstr "系统初始化中"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:360
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr "请准备好随时人工接管车辆"
|
||||
msgstr "随时准备接管控制"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:369
|
||||
#: ../selfdrive/controls/lib/events.py:370
|
||||
@@ -191,12 +192,12 @@ msgstr "行车记录模式"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:375
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr "行车记录模式 (尚未支持车型)"
|
||||
msgstr "行车记录模式 (尚未支援车种)"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:379
|
||||
#: ../selfdrive/controls/lib/events.py:403
|
||||
msgid "Car Unrecognized"
|
||||
msgstr "无法辨识车辆型号"
|
||||
msgstr "无法辨识车款"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:380
|
||||
msgid "Check comma power connections"
|
||||
@@ -214,7 +215,7 @@ msgstr "原厂 LKAS 已开启"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:391
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr "请先关闭原厂 LKAS 才能启用"
|
||||
msgstr "需关闭原厂 LKAS 才能启用"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:409
|
||||
#: ../selfdrive/controls/lib/events.py:418
|
||||
@@ -248,7 +249,7 @@ msgstr "横向控制暂时失效"
|
||||
#: ../selfdrive/controls/lib/events.py:457
|
||||
#: ../selfdrive/controls/lib/events.py:465
|
||||
msgid "Pay Attention"
|
||||
msgstr ""
|
||||
msgstr "请注视路况"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:466
|
||||
#: ../selfdrive/controls/lib/events.py:474
|
||||
@@ -263,11 +264,11 @@ msgstr "立即解除"
|
||||
#: ../selfdrive/controls/lib/events.py:481
|
||||
#, fuzzy
|
||||
msgid "Touch Steering Wheel: No Face Detected"
|
||||
msgstr "请触碰方向盘：未识别到驾驶者面容"
|
||||
msgstr "请触碰方向盘：未侦测到驾驶面容"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:489
|
||||
msgid "Touch Steering Wheel"
|
||||
msgstr ""
|
||||
msgstr "请触碰方向盘"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:490
|
||||
#: ../selfdrive/controls/lib/events.py:498
|
||||
@@ -276,11 +277,11 @@ msgstr "驾驶没有反应"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:505
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr "人工接管控制"
|
||||
msgstr "接管控制"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:506
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr "请人工接管恢复驾驶"
|
||||
msgstr "请自行恢復驾驶"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:513
|
||||
#, fuzzy
|
||||
@@ -289,16 +290,16 @@ msgstr "请按 RES 继续"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:525
|
||||
msgid "Steer Left to Start Lane Change Once Safe"
|
||||
msgstr "确认安全后请往左轻转方向盘换道"
|
||||
msgstr "确认安全后请往左轻打方向盘换道"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:533
|
||||
msgid "Steer Right to Start Lane Change Once Safe"
|
||||
msgstr "确认安全后请往右轻转方向盘换道"
|
||||
msgstr "确认安全后请往右轻打方向盘换道"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:541
|
||||
#, fuzzy
|
||||
msgid "Car Detected in Blindspot"
|
||||
msgstr "盲区监测到车辆"
|
||||
msgstr "盲点侦测到车辆"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:549
|
||||
msgid "Changing Lanes"
|
||||
@@ -306,11 +307,11 @@ msgstr "切换车道中"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:557
|
||||
msgid "Take Control"
|
||||
msgstr ""
|
||||
msgstr "请接手控制"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:558
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr "弯道幅度超过横向操控限制"
|
||||
msgstr "弯道超过横向操控限制"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:565
|
||||
msgid "Fan Malfunction"
|
||||
@@ -319,27 +320,27 @@ msgstr "散热风扇故障"
|
||||
#: ../selfdrive/controls/lib/events.py:565
|
||||
#: ../selfdrive/controls/lib/events.py:583
|
||||
msgid "Likely Hardware Issue"
|
||||
msgstr ""
|
||||
msgstr "硬体可能有问题"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:572
|
||||
#, fuzzy
|
||||
msgid "Camera Malfunction: Reboot Your Device"
|
||||
msgstr "系统错误：请重启您的设备"
|
||||
msgstr "相机故障：请重新启动设备"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:576
|
||||
#: ../selfdrive/controls/lib/events.py:577
|
||||
msgid "Camera Frame Rate Low"
|
||||
msgstr ""
|
||||
msgstr "相机帧率偏低"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:576
|
||||
#: ../selfdrive/controls/lib/events.py:700
|
||||
msgid "Reboot your Device"
|
||||
msgstr "请重启装置"
|
||||
msgstr "请重启设备"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:578
|
||||
#, fuzzy
|
||||
msgid "Camera Frame Rate Low: Reboot Your Device"
|
||||
msgstr "系统错误：请重启您的设备"
|
||||
msgstr "相机帧率低：请重新启动设备"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:583
|
||||
msgid "GPS Malfunction"
|
||||
@@ -348,11 +349,11 @@ msgstr "GPS 故障"
|
||||
#: ../selfdrive/controls/lib/events.py:609
|
||||
#, fuzzy
|
||||
msgid "Cancel Pressed"
|
||||
msgstr "启用时侦测到驾驶踩踏油门/刹车"
|
||||
msgstr "按下取消"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:614
|
||||
msgid "Brake Hold Active"
|
||||
msgstr "驻车刹车已启用"
|
||||
msgstr "驻车煞车已启用"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:619
|
||||
#, fuzzy
|
||||
@@ -362,17 +363,17 @@ msgstr "电子驻车已启动"
|
||||
#: ../selfdrive/controls/lib/events.py:624
|
||||
#, fuzzy
|
||||
msgid "Pedal Pressed"
|
||||
msgstr "启用时侦测到驾驶踩踏油门/刹车"
|
||||
msgstr "踩下踏板"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:630
|
||||
#, fuzzy
|
||||
msgid "Release Brake to Engage"
|
||||
msgstr "电子驻车已启动"
|
||||
msgstr "放开踏板以启动"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:658
|
||||
#, fuzzy
|
||||
msgid "Press Set to Engage"
|
||||
msgstr "电子驻车已启动"
|
||||
msgstr "按下 SET 以启动"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:663
|
||||
#, fuzzy
|
||||
@@ -383,31 +384,31 @@ msgstr "巡航模式关闭"
|
||||
#: ../selfdrive/controls/lib/events.py:673
|
||||
#, fuzzy
|
||||
msgid "Vehicle Steering Time Limit"
|
||||
msgstr "弯道幅度超过横向操控限制"
|
||||
msgstr "车辆转向时间限制"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:687
|
||||
#: ../selfdrive/controls/lib/events.py:691
|
||||
#: ../selfdrive/controls/lib/events.py:692
|
||||
msgid "Sensor Data Invalid"
|
||||
msgstr ""
|
||||
msgstr "感测器数据无效"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:688
|
||||
msgid "Ensure device is mounted securely"
|
||||
msgstr ""
|
||||
msgstr "请确保设备已安装牢固"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:700
|
||||
#: ../selfdrive/controls/lib/events.py:701
|
||||
msgid "Speaker not found"
|
||||
msgstr "找不到音效装置"
|
||||
msgstr "找不到音效设备"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:705
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr "驾驶分心次数过多"
|
||||
msgstr "驾驶分心太多次"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:715
|
||||
#: ../selfdrive/controls/lib/events.py:716
|
||||
msgid "Gear not D"
|
||||
msgstr "不在 D 档"
|
||||
msgstr "不在 D 档位"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:726
|
||||
#: ../selfdrive/controls/lib/events.py:727
|
||||
@@ -426,12 +427,12 @@ msgstr "正在校准中"
|
||||
#: ../selfdrive/controls/lib/events.py:738
|
||||
#, fuzzy
|
||||
msgid "Device Remount Detected: Recalibrating"
|
||||
msgstr "请将设备放于新的位置并重新校准"
|
||||
msgstr "侦测到装置重新安装：重新校准中"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:739
|
||||
#, fuzzy
|
||||
msgid "Remount Detected: Recalibrating"
|
||||
msgstr "请将设备放于新的位置并重新校准"
|
||||
msgstr "侦测到重新安装：重新校准中"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:743
|
||||
#: ../selfdrive/controls/lib/events.py:744
|
||||
@@ -441,12 +442,12 @@ msgstr "车门开启"
|
||||
#: ../selfdrive/controls/lib/events.py:748
|
||||
#: ../selfdrive/controls/lib/events.py:749
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr "未系安全带"
|
||||
msgstr "安全带未繫"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:753
|
||||
#: ../selfdrive/controls/lib/events.py:754
|
||||
msgid "Electronic Stability Control Disabled"
|
||||
msgstr ""
|
||||
msgstr "电子稳定控制已停用"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:758
|
||||
#: ../selfdrive/controls/lib/events.py:759
|
||||
@@ -455,13 +456,13 @@ msgstr "电量过低"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:767
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr "进程间出现通讯问题"
|
||||
msgstr "行程间出现通讯问题"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:771
|
||||
#: ../selfdrive/controls/lib/events.py:772
|
||||
#, fuzzy
|
||||
msgid "Low Communication Rate between Processes"
|
||||
msgstr "进程间出现通讯问题"
|
||||
msgstr "行程间出现通讯问题"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:776
|
||||
#, fuzzy
|
||||
@@ -471,36 +472,33 @@ msgstr "控制发生错误"
|
||||
#: ../selfdrive/controls/lib/events.py:777
|
||||
#, fuzzy
|
||||
msgid "Controls Process Lagging: Reboot Your Device"
|
||||
msgstr "系统错误：请重启您的设备"
|
||||
msgstr "控制处理延迟：请重新启动装置"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:787
|
||||
#: ../selfdrive/controls/lib/events.py:788
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr "雷达信号错误：请重新启动车辆"
|
||||
msgstr "雷达讯号错误：请重新发动车辆"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:813
|
||||
#: ../selfdrive/controls/lib/events.py:814
|
||||
msgid "Device Fell Off Mount"
|
||||
msgstr "设备已经掉落"
|
||||
msgstr "设备掉落侦测"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:818
|
||||
#: ../selfdrive/controls/lib/events.py:820
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr "内存不足：请重启您的装置"
|
||||
msgstr "记忆体不足：请重启您的设备"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:830
|
||||
#: ../selfdrive/controls/lib/events.py:832
|
||||
#: ../selfdrive/controls/lib/events.py:897
|
||||
#: ../selfdrive/controls/lib/events.py:899
|
||||
#: ../selfdrive/controls/lib/events.py:956
|
||||
#: ../selfdrive/controls/lib/events.py:950
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "巡航系统错误：请重新启动车辆"
|
||||
msgstr "巡航系统错误：请重新发动车辆"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:831
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
#: ../selfdrive/controls/lib/events.py:949
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "巡航系统错误：请重新启动车辆"
|
||||
msgstr "巡航系统错误：请重新发动车辆"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:836
|
||||
#: ../selfdrive/controls/lib/events.py:837
|
||||
@@ -510,135 +508,136 @@ msgstr "控制不匹配"
|
||||
#: ../selfdrive/controls/lib/events.py:841
|
||||
#, fuzzy
|
||||
msgid "Camera CRC Error - Road"
|
||||
msgstr "道路摄像头错误"
|
||||
msgstr "相机 CRC 错误 - 道路"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:847
|
||||
msgid "Camera CRC Error - Road Fisheye"
|
||||
msgstr ""
|
||||
msgstr "相机 CRC 错误 - 道路鱼眼"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:853
|
||||
msgid "Camera CRC Error - Driver"
|
||||
msgstr ""
|
||||
msgstr "相机 CRC 错误 - 驾驶"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:861
|
||||
#: ../selfdrive/controls/lib/events.py:862
|
||||
#: ../selfdrive/controls/lib/events.py:863
|
||||
msgid "USB Error: Reboot Your Device"
|
||||
msgstr "USB 错误：请重启您的装置"
|
||||
msgstr "USB 错误：请重启您的设备"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:871
|
||||
msgid "CAN Error"
|
||||
msgstr ""
|
||||
msgstr "CAN 错误"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:873
|
||||
#: ../selfdrive/controls/lib/events.py:877
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr "CAN 信号错误：请检查线路"
|
||||
msgstr "CAN 讯号错误：请检查线路"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:881
|
||||
msgid "CAN Bus Disconnected"
|
||||
msgstr ""
|
||||
msgstr "CAN 通讯已中断"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:883
|
||||
msgid "CAN Bus Disconnected: Likely Faulty Cable"
|
||||
msgstr ""
|
||||
msgstr "CAN 通讯已中断：线组可能出错"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:887
|
||||
#, fuzzy
|
||||
msgid "CAN Bus Disconnected: Check Connections"
|
||||
msgstr "CAN 信号错误：请检查线路"
|
||||
msgstr "CAN 通讯已中断：请检查线路"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:891
|
||||
#: ../selfdrive/controls/lib/events.py:893
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr "LKAS 错误：请重新启动车辆"
|
||||
msgstr "LKAS 错误：请重新发动车辆"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:892
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKAS 错误：请重新启动车辆"
|
||||
msgstr "LKAS 错误：请重新发动车辆"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:904
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr "倒车中"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:908
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
#: ../selfdrive/controls/lib/events.py:902
|
||||
#: ../selfdrive/controls/lib/events.py:903
|
||||
msgid "Reverse Gear"
|
||||
msgstr "切换至倒车档"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:915
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "巡航系统已关闭"
|
||||
msgstr "巡航系统关闭"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:922
|
||||
#: ../selfdrive/controls/lib/events.py:923
|
||||
#: ../selfdrive/controls/lib/events.py:916
|
||||
#: ../selfdrive/controls/lib/events.py:917
|
||||
msgid "Planner Solution Error"
|
||||
msgstr "Planner Solution 错误"
|
||||
msgstr "规划器解决方案错误"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:931
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
#: ../selfdrive/controls/lib/events.py:925
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
#: ../selfdrive/controls/lib/events.py:927
|
||||
#, fuzzy
|
||||
msgid "Harness Relay Malfunction"
|
||||
msgstr "Harness 故障"
|
||||
msgstr "配线继电器故障"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
msgid "Check Hardware"
|
||||
msgstr "请检查硬体"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
msgid "Check Hardware"
|
||||
msgstr "请检查硬件"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:938
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "openpilot 已取消"
|
||||
msgstr "dragonpilot 已取消"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:939
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
msgid "Speed too low"
|
||||
msgstr "车速过慢"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:947
|
||||
#: ../selfdrive/controls/lib/events.py:941
|
||||
msgid "Speed Too High"
|
||||
msgstr "车速过快"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:948
|
||||
#: ../selfdrive/controls/lib/events.py:942
|
||||
msgid "Model uncertain at this speed"
|
||||
msgstr "模型在这个速度下无法正确识别"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:951
|
||||
#: ../selfdrive/controls/lib/events.py:945
|
||||
msgid "Slow down to engage"
|
||||
msgstr "请减速后再启用"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:954
|
||||
#, fuzzy
|
||||
msgid "LKAS Disabled: Enable LKAS to engage"
|
||||
msgstr "LKAS 错误：请重新启动车辆"
|
||||
msgstr "LKAS 错误：请重新发动车辆"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
msgid "LKAS Disabled"
|
||||
msgstr ""
|
||||
msgstr "LKAS 已关闭"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:965
|
||||
#: ../selfdrive/controls/lib/events.py:959
|
||||
#, fuzzy
|
||||
msgid "Vehicle Sensors Invalid"
|
||||
msgstr ""
|
||||
msgstr "感测器数据无效"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:967
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
msgid "Vehicle Sensors Calibrating"
|
||||
msgstr ""
|
||||
msgstr "车辆感应器校准中"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#, fuzzy
|
||||
msgid "Drive to Calibrate"
|
||||
msgstr "驾驶分心"
|
||||
|
||||
#~ msgid "Adjusting to %(speed)s %(unit)s"
|
||||
#~ msgstr "巡航速度設為 %(speed)s %(unit)s"
|
||||
#~ msgstr "巡航速度设为 %(speed)s %(unit)s"
|
||||
|
||||
#~ msgid "km/h"
|
||||
#~ msgstr "公里"
|
||||
#~ msgstr "km/h"
|
||||
|
||||
#~ msgid "mph"
|
||||
#~ msgstr "英里"
|
||||
#~ msgstr "mph"
|
||||
|
||||
#~ msgid "STEERING REQUIRED: Blinkers ON"
|
||||
#~ msgstr "请接管方向盘：方向灯开启"
|
||||
@@ -650,13 +649,13 @@ msgstr "驾驶分心"
|
||||
#~ msgstr "巡航模式关闭"
|
||||
|
||||
#~ msgid "Main Switch Off"
|
||||
#~ msgstr "巡航主开关已关闭"
|
||||
#~ msgstr "主开关已关闭"
|
||||
|
||||
#~ msgid "STOPPED"
|
||||
#~ msgstr "已停止"
|
||||
|
||||
#~ msgid "ESP Off"
|
||||
#~ msgstr "ESP 已关闭"
|
||||
#~ msgstr "ESP 关闭"
|
||||
|
||||
#~ msgid "Cruise Faulted"
|
||||
#~ msgstr "巡航系统错误"
|
||||
@@ -667,8 +666,11 @@ msgstr "驾驶分心"
|
||||
#~ msgid "No Close Lead Car"
|
||||
#~ msgstr "前方没有车辆"
|
||||
|
||||
#~ msgid "No Data from Device Sensors"
|
||||
#~ msgstr "未收到设备传感器数据"
|
||||
|
||||
#~ msgid "If sky is visible, contact support"
|
||||
#~ msgstr "如果您不在地下室/隧道，请联系客服处理"
|
||||
#~ msgstr "如果您不在地下室/隧道，请联系客服"
|
||||
|
||||
#~ msgid "Auto Lane Change starts in %.1f secs"
|
||||
#~ msgstr "%.1f 秒后自动换道"
|
||||
@@ -677,7 +679,7 @@ msgstr "驾驶分心"
|
||||
#~ msgstr "请注意其它车辆"
|
||||
|
||||
#~ msgid "openpilot Not Available"
|
||||
#~ msgstr "openpilot无法启动"
|
||||
#~ msgstr "无法使用 openpilot"
|
||||
|
||||
#~ msgid "openpilot will not brake while gas pressed"
|
||||
#~ msgstr "在您踩着油门的时候 openpilot 将不会刹车"
|
||||
@@ -701,14 +703,11 @@ msgstr "驾驶分心"
|
||||
#~ msgstr "巡航速度设至目前速限"
|
||||
|
||||
#~ msgid "Out of Storage Space"
|
||||
#~ msgstr "存储空间不足"
|
||||
#~ msgstr "储存空间不足"
|
||||
|
||||
#~ msgid "Speed Too Low"
|
||||
#~ msgstr "车速过慢"
|
||||
|
||||
#~ msgid "No Data from Device Sensors"
|
||||
#~ msgstr "未收到装置传感器数据"
|
||||
|
||||
#~ msgid "Model Output Uncertain"
|
||||
#~ msgstr "视觉模型判断不明确"
|
||||
|
||||
@@ -719,25 +718,25 @@ msgstr "驾驶分心"
|
||||
#~ msgstr "广角道路摄像头错误"
|
||||
|
||||
#~ msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
#~ msgstr "请接管方向盘：车道保持已关闭"
|
||||
#~ msgstr "请接管方向盘：车道维持关闭"
|
||||
|
||||
#~ msgid "DEBUG ALERT"
|
||||
#~ msgstr "除错用警示讯息"
|
||||
|
||||
#~ msgid "Unsupported Giraffe Configuration"
|
||||
#~ msgstr "未支持的 Giraffe 设置"
|
||||
#~ msgstr "未支援的 Giraffe 设置"
|
||||
|
||||
#~ msgid "Visit comma.ai/tg"
|
||||
#~ msgstr "请查阅 comma.ai/tg"
|
||||
|
||||
#~ msgid "White Panda Is No Longer Supported"
|
||||
#~ msgstr "不再支持 White Panda"
|
||||
#~ msgstr "不再支援 White Panda"
|
||||
|
||||
#~ msgid "Upgrade to comma two or black panda"
|
||||
#~ msgstr "请升级至 comma two 或是使用 black panda"
|
||||
|
||||
#~ msgid "White panda is no longer supported"
|
||||
#~ msgstr "不再支持 White panda"
|
||||
#~ msgstr "不再支援 White panda"
|
||||
|
||||
#~ msgid "Community Feature Detected"
|
||||
#~ msgstr "检测到社群开发功能"
|
||||
@@ -746,13 +745,13 @@ msgstr "驾驶分心"
|
||||
#~ msgstr "有碰撞的风险"
|
||||
|
||||
#~ msgid "Driver Appears Distracted"
|
||||
#~ msgstr "驾驶者分心"
|
||||
#~ msgstr "驾驶分心"
|
||||
|
||||
#~ msgid "Driver Was Unresponsive"
|
||||
#~ msgstr "驾驶者没有反应"
|
||||
#~ msgstr "驾驶没有反应"
|
||||
|
||||
#~ msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
#~ msgstr "请检查驾驶者面部的可见度"
|
||||
#~ msgstr "请检查驾驶面部的可见度"
|
||||
|
||||
#~ msgid "Driver Monitor Model Output Uncertain"
|
||||
#~ msgstr "驾驶监控模型判断不明确"
|
||||
@@ -782,28 +781,28 @@ msgstr "驾驶分心"
|
||||
#~ msgstr "记忆体严重不足"
|
||||
|
||||
#~ msgid "Gas Fault: Restart the Car"
|
||||
#~ msgstr "油门错误：请重新启动车辆"
|
||||
#~ msgstr "油门错误：请重新发动车辆"
|
||||
|
||||
#~ msgid "Gas Error: Restart the Car"
|
||||
#~ msgstr "油门错误：请重新启动车辆"
|
||||
#~ msgstr "油门错误：请重新发动车辆"
|
||||
|
||||
#~ msgid "Slow down to resume operation"
|
||||
#~ msgstr "请减速后再启用"
|
||||
|
||||
#~ msgid "Please connect to Internet"
|
||||
#~ msgstr "请连接网络"
|
||||
#~ msgstr "请连接网路"
|
||||
|
||||
#~ msgid "An Update Check Is Required to Engage"
|
||||
#~ msgstr "需检查更新后才能启用"
|
||||
|
||||
#~ msgid "Please Connect to Internet"
|
||||
#~ msgstr "请连接网络"
|
||||
#~ msgstr "请连接网路"
|
||||
|
||||
#~ msgid "Left ALC will start in 3s"
|
||||
#~ msgstr "准备自动变道到左侧车道"
|
||||
#~ msgstr "准备自动切至左车道"
|
||||
|
||||
#~ msgid "Right ALC will start in 3s"
|
||||
#~ msgstr "准备自动变道到右侧车道"
|
||||
#~ msgstr "准备自动切至右车道"
|
||||
|
||||
#~ msgid "Lead Car Is Moving"
|
||||
#~ msgstr "前方车辆车移动中"
|
||||
@@ -824,4 +823,4 @@ msgstr "驾驶分心"
|
||||
#~ msgstr "时间限制已绕过"
|
||||
|
||||
#~ msgid "Release wheel when ready"
|
||||
#~ msgstr "准备好后可松开放向盘"
|
||||
#~ msgstr "准备好后请松开放向盘"
|
||||
|
||||
Binary file not shown.
@@ -7,7 +7,7 @@ msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2023-05-24 11:41+0800\n"
|
||||
"POT-Creation-Date: 2023-06-08 16:04+0800\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: Rick Lan <ricklan@gmail.com>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
@@ -28,7 +28,7 @@ msgstr "立即接管控制"
|
||||
#: ../selfdrive/controls/lib/events.py:171
|
||||
#, fuzzy
|
||||
msgid "openpilot will disengage"
|
||||
msgstr "Openpilot 將解除"
|
||||
msgstr "dragonpilot 將解除"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:198
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
@@ -491,15 +491,12 @@ msgstr "記憶體不足：請重啟您的設備"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:830
|
||||
#: ../selfdrive/controls/lib/events.py:832
|
||||
#: ../selfdrive/controls/lib/events.py:897
|
||||
#: ../selfdrive/controls/lib/events.py:899
|
||||
#: ../selfdrive/controls/lib/events.py:956
|
||||
#: ../selfdrive/controls/lib/events.py:950
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "巡航系統錯誤：請重新發動車輛"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:831
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
#: ../selfdrive/controls/lib/events.py:949
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "巡航系統錯誤：請重新發動車輛"
|
||||
|
||||
@@ -558,77 +555,77 @@ msgstr "LKAS 錯誤：請重新發動車輛"
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKAS 錯誤：請重新發動車輛"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:904
|
||||
#: ../selfdrive/controls/lib/events.py:898
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr "倒車中"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:908
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
#: ../selfdrive/controls/lib/events.py:902
|
||||
#: ../selfdrive/controls/lib/events.py:903
|
||||
msgid "Reverse Gear"
|
||||
msgstr "切換至倒車檔"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:915
|
||||
#: ../selfdrive/controls/lib/events.py:909
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "巡航系統關閉"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:922
|
||||
#: ../selfdrive/controls/lib/events.py:923
|
||||
#: ../selfdrive/controls/lib/events.py:916
|
||||
#: ../selfdrive/controls/lib/events.py:917
|
||||
msgid "Planner Solution Error"
|
||||
msgstr "規劃器解決方案錯誤"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:931
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
#: ../selfdrive/controls/lib/events.py:925
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
#: ../selfdrive/controls/lib/events.py:927
|
||||
#, fuzzy
|
||||
msgid "Harness Relay Malfunction"
|
||||
msgstr "配線繼電器故障"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
#: ../selfdrive/controls/lib/events.py:926
|
||||
msgid "Check Hardware"
|
||||
msgstr "請檢查硬體"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:938
|
||||
#: ../selfdrive/controls/lib/events.py:932
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "openpilot 已取消"
|
||||
msgstr "dragonpilot 已取消"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:939
|
||||
#: ../selfdrive/controls/lib/events.py:933
|
||||
msgid "Speed too low"
|
||||
msgstr "車速過慢"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:947
|
||||
#: ../selfdrive/controls/lib/events.py:941
|
||||
msgid "Speed Too High"
|
||||
msgstr "車速過快"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:948
|
||||
#: ../selfdrive/controls/lib/events.py:942
|
||||
msgid "Model uncertain at this speed"
|
||||
msgstr "模型在這個速度下無法正確識別"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:951
|
||||
#: ../selfdrive/controls/lib/events.py:945
|
||||
msgid "Slow down to engage"
|
||||
msgstr "請減速後再啟用"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:954
|
||||
#, fuzzy
|
||||
msgid "LKAS Disabled: Enable LKAS to engage"
|
||||
msgstr "LKAS 錯誤：請重新發動車輛"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
#: ../selfdrive/controls/lib/events.py:955
|
||||
msgid "LKAS Disabled"
|
||||
msgstr "LKAS 已關閉"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:965
|
||||
#: ../selfdrive/controls/lib/events.py:959
|
||||
#, fuzzy
|
||||
msgid "Vehicle Sensors Invalid"
|
||||
msgstr "感測器數據無效"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:967
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#: ../selfdrive/controls/lib/events.py:961
|
||||
msgid "Vehicle Sensors Calibrating"
|
||||
msgstr "車輛感應器校準中"
|
||||
|
||||
#: ../selfdrive/controls/lib/events.py:966
|
||||
#: ../selfdrive/controls/lib/events.py:960
|
||||
#, fuzzy
|
||||
msgid "Drive to Calibrate"
|
||||
msgstr "駕駛分心"
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
<svg width="68" height="68" viewBox="0 0 68 68" fill="none" xmlns="http://www.w3.org/2000/svg">
|
||||
<path d="M34.0004 8.63599C21.8284 8.63599 10.7444 13.26 2.31243 20.808C1.56443 21.488 1.4964 22.644 2.1084 23.392L4.76041 26.452C5.44041 27.2 6.59641 27.268 7.34441 26.588C14.4164 20.196 23.7324 16.32 33.9324 16.32C44.1324 16.32 53.4484 20.196 60.5204 26.588C61.2684 27.268 62.4244 27.2 63.1044 26.452L65.7564 23.392C66.4364 22.644 66.3004 21.488 65.5524 20.808C57.2564 13.26 46.1724 8.63599 34.0004 8.63599Z" fill="#465BEA"/>
|
||||
<path d="M34.0004 22.032C25.1604 22.032 17.0684 25.432 11.0164 30.94C10.2684 31.62 10.2004 32.708 10.8804 33.456L13.3964 36.38C14.0764 37.196 15.2324 37.196 16.0484 36.516C20.8084 32.164 27.1324 29.512 34.0684 29.512C41.0044 29.512 47.3284 32.164 52.0884 36.516C52.8364 37.196 54.0604 37.196 54.7404 36.38L57.2564 33.456C57.8684 32.708 57.8684 31.552 57.1204 30.94C50.9324 25.364 42.8404 22.032 34.0004 22.032Z" fill="#465BEA"/>
|
||||
<path d="M34.0007 35.36C28.4247 35.36 23.3927 37.536 19.6527 41.14C18.9727 41.82 18.9047 42.908 19.5847 43.656L21.9647 46.444C22.6447 47.26 23.8687 47.26 24.6167 46.58C27.0647 44.2 30.3287 42.772 34.0007 42.772C37.6727 42.772 40.9367 44.2 43.3847 46.58C44.1327 47.328 45.3567 47.26 46.0367 46.444L48.4167 43.656C49.0287 42.908 49.0287 41.82 48.3487 41.14C44.6087 37.536 39.5767 35.36 34.0007 35.36Z" fill="#465BEA"/>
|
||||
<path d="M34.0005 48.688C31.7565 48.688 29.7165 49.708 28.3565 51.34C27.7445 52.02 27.7445 53.04 28.3565 53.72L32.6405 58.684C33.3885 59.5 34.6804 59.5 35.4284 58.684L39.7125 53.72C40.3245 53.04 40.3245 52.02 39.7125 51.34C38.2845 49.708 36.2445 48.688 34.0005 48.688Z" fill="#465BEA"/>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 1.6 KiB |
@@ -171,7 +171,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None:
|
||||
try:
|
||||
data = recv_queue.get(timeout=1)
|
||||
if "method" in data:
|
||||
cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}")
|
||||
cloudlog.event("athena.jsonrpc_handler.call_method", data=data)
|
||||
response = JSONRPCResponseManager.handle(data, dispatcher)
|
||||
send_queue.put_nowait(response.json)
|
||||
elif "id" in data and ("result" in data or "error" in data):
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -57,7 +57,7 @@ public:
|
||||
std::string hw_serial();
|
||||
|
||||
// Static functions
|
||||
static std::vector<std::string> list();
|
||||
static std::vector<std::string> list(bool usb_only=false);
|
||||
|
||||
// Panda functionality
|
||||
cereal::PandaState::PandaType get_hw_type();
|
||||
|
||||
Binary file not shown.
@@ -5,7 +5,7 @@ from typing import Dict, List, Optional, Union
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -60,7 +60,7 @@ RAM_CARS = RAM_DT | RAM_HD
|
||||
@dataclass
|
||||
class ChryslerCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.fca)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.fca])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
@@ -74,10 +74,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
],
|
||||
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
|
||||
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
|
||||
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness_kit=HarnessKit(Harness.ram)),
|
||||
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
|
||||
CAR.RAM_HD: [
|
||||
ChryslerCarInfo("Ram 2500 2020-22", harness_kit=HarnessKit(Harness.ram)),
|
||||
ChryslerCarInfo("Ram 3500 2019-22", harness_kit=HarnessKit(Harness.ram)),
|
||||
ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])),
|
||||
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
|
||||
],
|
||||
}
|
||||
|
||||
@@ -225,8 +225,8 @@ FW_VERSIONS = {
|
||||
b'68453513AD',
|
||||
b'68453514AD',
|
||||
b'68510283AG',
|
||||
b'68527375AD',
|
||||
b'68527346AE',
|
||||
b'68527375AD',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68428609AB',
|
||||
@@ -248,8 +248,8 @@ FW_VERSIONS = {
|
||||
b'68438456AF',
|
||||
b'68535469AB',
|
||||
b'68535470AC',
|
||||
b'68586307AB',
|
||||
b'68548900AB',
|
||||
b'68586307AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672892AB',
|
||||
@@ -275,13 +275,14 @@ FW_VERSIONS = {
|
||||
b'68522583AB',
|
||||
b'68522585AB',
|
||||
b'68552788AA',
|
||||
b'68552789AA',
|
||||
b'68552790AA',
|
||||
b'68585112AB',
|
||||
b'68552789AA',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05036065AE ',
|
||||
b'05036066AE ',
|
||||
b'05149846AA ',
|
||||
b'68378701AI ',
|
||||
b'68378758AM ',
|
||||
b'68448163AJ',
|
||||
@@ -289,7 +290,6 @@ FW_VERSIONS = {
|
||||
b'68500630AD',
|
||||
b'68500630AE',
|
||||
b'68539650AD',
|
||||
b'05149846AA ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'68360078AL',
|
||||
@@ -301,8 +301,8 @@ FW_VERSIONS = {
|
||||
b'68445533AB',
|
||||
b'68484467AC',
|
||||
b'68502994AD',
|
||||
b'68540431AB',
|
||||
b'68520867AE',
|
||||
b'68540431AB',
|
||||
],
|
||||
},
|
||||
|
||||
@@ -314,6 +314,7 @@ FW_VERSIONS = {
|
||||
b'68525485AB',
|
||||
b'68525487AB',
|
||||
b'68525498AB',
|
||||
b'68528791AF',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68399794AC',
|
||||
@@ -329,9 +330,11 @@ FW_VERSIONS = {
|
||||
b'68504022AC',
|
||||
b'68530686AB',
|
||||
b'68530686AC',
|
||||
b'68544596AC',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672895AB',
|
||||
b'04672934AB',
|
||||
b'56029827AG',
|
||||
b'56029827AH',
|
||||
b'68462657AE',
|
||||
@@ -341,6 +344,7 @@ FW_VERSIONS = {
|
||||
(Ecu.eps, 0x761, None): [
|
||||
b'68421036AC',
|
||||
b'68507906AB',
|
||||
b'68534023AC',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'52370131AF',
|
||||
@@ -349,6 +353,7 @@ FW_VERSIONS = {
|
||||
b'52370931CT',
|
||||
b'52401032AE',
|
||||
b'52421132AF',
|
||||
b'52421332AF',
|
||||
b'68527616AD ',
|
||||
b'M2370131MB',
|
||||
b'M2421132MB',
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
import re
|
||||
from collections import namedtuple
|
||||
import copy
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Optional, Tuple, Union
|
||||
@@ -21,7 +20,7 @@ class Column(Enum):
|
||||
FSR_STEERING = "No ALC below"
|
||||
STEERING_TORQUE = "Steering Torque"
|
||||
AUTO_RESUME = "Resume from stop"
|
||||
HARNESS = "Harness Kit"
|
||||
HARDWARE = "Hardware Needed"
|
||||
VIDEO = "Video"
|
||||
|
||||
|
||||
@@ -31,60 +30,130 @@ class Star(Enum):
|
||||
EMPTY = "empty"
|
||||
|
||||
|
||||
class Harness(Enum):
|
||||
nidec = "Honda Nidec"
|
||||
bosch_a = "Honda Bosch A"
|
||||
bosch_b = "Honda Bosch B"
|
||||
toyota = "Toyota"
|
||||
subaru_a = "Subaru A"
|
||||
subaru_b = "Subaru B"
|
||||
fca = "FCA"
|
||||
ram = "Ram"
|
||||
vw = "VW"
|
||||
j533 = "J533"
|
||||
hyundai_a = "Hyundai A"
|
||||
hyundai_b = "Hyundai B"
|
||||
hyundai_c = "Hyundai C"
|
||||
hyundai_d = "Hyundai D"
|
||||
hyundai_e = "Hyundai E"
|
||||
hyundai_f = "Hyundai F"
|
||||
hyundai_g = "Hyundai G"
|
||||
hyundai_h = "Hyundai H"
|
||||
hyundai_i = "Hyundai I"
|
||||
hyundai_j = "Hyundai J"
|
||||
hyundai_k = "Hyundai K"
|
||||
hyundai_l = "Hyundai L"
|
||||
hyundai_m = "Hyundai M"
|
||||
hyundai_n = "Hyundai N"
|
||||
hyundai_o = "Hyundai O"
|
||||
hyundai_p = "Hyundai P"
|
||||
hyundai_q = "Hyundai Q"
|
||||
custom = "Developer"
|
||||
obd_ii = "OBD-II"
|
||||
gm = "GM"
|
||||
nissan_a = "Nissan A"
|
||||
nissan_b = "Nissan B"
|
||||
mazda = "Mazda"
|
||||
ford_q3 = "Ford Q3"
|
||||
ford_q4 = "Ford Q4"
|
||||
none = "None"
|
||||
# A part + its comprised parts
|
||||
@dataclass
|
||||
class BasePart:
|
||||
name: str
|
||||
parts: List[Enum] = field(default_factory=list)
|
||||
|
||||
def all_parts(self):
|
||||
# Recursively get all parts
|
||||
_parts = 'parts'
|
||||
parts = []
|
||||
parts.extend(getattr(self, _parts))
|
||||
for part in getattr(self, _parts):
|
||||
parts.extend(part.value.all_parts())
|
||||
|
||||
return parts
|
||||
|
||||
|
||||
class HarnessPart(Enum):
|
||||
harness_box = "harness box"
|
||||
comma_power_v2 = "comma power v2"
|
||||
rj45_cable = "RJ45 cable (7 ft)"
|
||||
long_obdc_cable = "long OBD-C cable"
|
||||
usbc_coupler = "USB-C coupler"
|
||||
class EnumBase(Enum):
|
||||
@property
|
||||
def type(self):
|
||||
return PartType(self.__class__)
|
||||
|
||||
|
||||
DEFAULT_HARNESS_PARTS: List[HarnessPart] = [HarnessPart.harness_box, HarnessPart.comma_power_v2, HarnessPart.rj45_cable]
|
||||
class Mount(EnumBase):
|
||||
mount = BasePart("mount")
|
||||
angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
|
||||
|
||||
|
||||
class Cable(EnumBase):
|
||||
rj45_cable_7ft = BasePart("RJ45 cable (7 ft)")
|
||||
long_obdc_cable = BasePart("long OBD-C cable")
|
||||
usb_a_2_a_cable = BasePart("USB A-A cable")
|
||||
usbc_otg_cable = BasePart("USB C OTG cable")
|
||||
usbc_coupler = BasePart("USB-C coupler")
|
||||
obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
|
||||
right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
|
||||
|
||||
|
||||
class Accessory(EnumBase):
|
||||
harness_box = BasePart("harness box")
|
||||
comma_power_v2 = BasePart("comma power v2")
|
||||
|
||||
|
||||
@dataclass
|
||||
class HarnessKit:
|
||||
connector: Harness = Harness.none
|
||||
parts: List[HarnessPart] = field(default_factory=lambda: copy.copy(DEFAULT_HARNESS_PARTS))
|
||||
class BaseCarHarness(BasePart):
|
||||
parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
|
||||
has_connector: bool = True # without are hidden on the harness connector page
|
||||
|
||||
|
||||
class CarHarness(EnumBase):
|
||||
nidec = BaseCarHarness("Honda Nidec connector")
|
||||
bosch_a = BaseCarHarness("Honda Bosch A connector")
|
||||
bosch_b = BaseCarHarness("Honda Bosch B connector")
|
||||
toyota = BaseCarHarness("Toyota connector")
|
||||
subaru_a = BaseCarHarness("Subaru A connector")
|
||||
subaru_b = BaseCarHarness("Subaru B connector")
|
||||
fca = BaseCarHarness("FCA connector")
|
||||
ram = BaseCarHarness("Ram connector")
|
||||
vw = BaseCarHarness("VW connector")
|
||||
j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
hyundai_a = BaseCarHarness("Hyundai A connector")
|
||||
hyundai_b = BaseCarHarness("Hyundai B connector")
|
||||
hyundai_c = BaseCarHarness("Hyundai C connector")
|
||||
hyundai_d = BaseCarHarness("Hyundai D connector")
|
||||
hyundai_e = BaseCarHarness("Hyundai E connector")
|
||||
hyundai_f = BaseCarHarness("Hyundai F connector")
|
||||
hyundai_g = BaseCarHarness("Hyundai G connector")
|
||||
hyundai_h = BaseCarHarness("Hyundai H connector")
|
||||
hyundai_i = BaseCarHarness("Hyundai I connector")
|
||||
hyundai_j = BaseCarHarness("Hyundai J connector")
|
||||
hyundai_k = BaseCarHarness("Hyundai K connector")
|
||||
hyundai_l = BaseCarHarness("Hyundai L connector")
|
||||
hyundai_m = BaseCarHarness("Hyundai M connector")
|
||||
hyundai_n = BaseCarHarness("Hyundai N connector")
|
||||
hyundai_o = BaseCarHarness("Hyundai O connector")
|
||||
hyundai_p = BaseCarHarness("Hyundai P connector")
|
||||
hyundai_q = BaseCarHarness("Hyundai Q connector")
|
||||
custom = BaseCarHarness("Developer connector")
|
||||
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
|
||||
gm = BaseCarHarness("GM connector")
|
||||
nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
mazda = BaseCarHarness("Mazda connector")
|
||||
ford_q3 = BaseCarHarness("Ford Q3 connector")
|
||||
ford_q4 = BaseCarHarness("Ford Q4 connector")
|
||||
|
||||
|
||||
class Device(EnumBase):
|
||||
three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
|
||||
# variant of comma three with angled mounts
|
||||
three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
|
||||
red_panda = BasePart("red panda")
|
||||
|
||||
|
||||
class Kit(EnumBase):
|
||||
red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
|
||||
|
||||
|
||||
class PartType(Enum):
|
||||
accessory = Accessory
|
||||
cable = Cable
|
||||
connector = CarHarness
|
||||
device = Device
|
||||
kit = Kit
|
||||
mount = Mount
|
||||
|
||||
|
||||
DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
|
||||
|
||||
|
||||
@dataclass
|
||||
class CarParts:
|
||||
parts: List[EnumBase] = field(default_factory=list)
|
||||
|
||||
@classmethod
|
||||
def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None):
|
||||
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
|
||||
return cls(p)
|
||||
|
||||
def all_parts(self):
|
||||
parts = []
|
||||
for part in self.parts:
|
||||
parts.extend(part.value.all_parts())
|
||||
return self.parts + parts
|
||||
|
||||
|
||||
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
|
||||
@@ -153,9 +222,10 @@ class CarInfo:
|
||||
footnotes: List[Enum] = field(default_factory=list)
|
||||
min_steer_speed: Optional[float] = None
|
||||
min_enable_speed: Optional[float] = None
|
||||
auto_resume: Optional[bool] = None
|
||||
|
||||
# harness connectors + all the parts needed
|
||||
harness_kit: HarnessKit = HarnessKit()
|
||||
# all the parts needed for the supported car
|
||||
car_parts: CarParts = CarParts()
|
||||
|
||||
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
|
||||
self.car_name = CP.carName
|
||||
@@ -184,13 +254,17 @@ class CarInfo:
|
||||
if self.min_enable_speed is None:
|
||||
self.min_enable_speed = CP.minEnableSpeed
|
||||
|
||||
# harness column
|
||||
harness_col = self.harness_kit.connector.value
|
||||
if self.harness_kit.connector is not Harness.none:
|
||||
if self.auto_resume is None:
|
||||
self.auto_resume = CP.autoResumeSng
|
||||
|
||||
# hardware column
|
||||
hardware_col = "None"
|
||||
if self.car_parts.parts:
|
||||
model_years = self.model + (' ' + self.years if self.years else '')
|
||||
harness_connector = f'- 1 <a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col} connector</a>'
|
||||
harness_parts = '<br>'.join([f"- {self.harness_kit.parts.count(part)} {part.value}" for part in sorted(set(self.harness_kit.parts), key=lambda part: part.value)])
|
||||
harness_col = f'<details><summary>View</summary><sub>{harness_connector}<br>{harness_parts}</sub></details>'
|
||||
buy_link = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">Buy Here</a>'
|
||||
car_parts_docs = self.car_parts.all_parts()
|
||||
parts = '<br>'.join([f"- {car_parts_docs.count(part)} {part.value.name}" for part in sorted(set(car_parts_docs), key=lambda part: str(part.value.name))])
|
||||
hardware_col = f'<details><summary>View</summary><sub>{parts}<br>{buy_link}</sub></details>'
|
||||
|
||||
self.row: Dict[Enum, Union[str, Star]] = {
|
||||
Column.MAKE: self.make,
|
||||
@@ -200,8 +274,8 @@ class CarInfo:
|
||||
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
|
||||
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
|
||||
Column.STEERING_TORQUE: Star.EMPTY,
|
||||
Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
|
||||
Column.HARNESS: harness_col,
|
||||
Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY,
|
||||
Column.HARDWARE: hardware_col,
|
||||
Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column
|
||||
}
|
||||
|
||||
@@ -232,7 +306,7 @@ class CarInfo:
|
||||
acc = ""
|
||||
if self.min_enable_speed > 0:
|
||||
acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
|
||||
elif CP.autoResumeSng:
|
||||
elif self.auto_resume:
|
||||
acc = " <strong>that automatically resumes from a stop</strong>"
|
||||
|
||||
if self.row[Column.STEERING_TORQUE] != Star.FULL:
|
||||
|
||||
@@ -70,7 +70,7 @@ class CarController:
|
||||
if self.CP.carFingerprint in CANFD_CARS:
|
||||
# TODO: extended mode
|
||||
mode = 1 if CC.latActive else 0
|
||||
counter = self.frame // CarControllerParams.STEER_STEP
|
||||
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
|
||||
can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
|
||||
else:
|
||||
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
|
||||
|
||||
@@ -4,7 +4,7 @@ from typing import Dict, List, Set, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -29,8 +29,8 @@ class CarControllerParams:
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
|
||||
CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
|
||||
|
||||
ACCEL_MAX = 2.0 # m/s^s max acceleration
|
||||
ACCEL_MIN = -3.5 # m/s^s max deceleration
|
||||
ACCEL_MAX = 2.0 # m/s^2 max acceleration
|
||||
ACCEL_MIN = -3.5 # m/s^2 max deceleration
|
||||
MIN_GAS = -0.5
|
||||
INACTIVE_GAS = -5.0
|
||||
|
||||
@@ -66,7 +66,11 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base
|
||||
@dataclass
|
||||
class FordCarInfo(CarInfo):
|
||||
package: str = "Co-Pilot360 Assist+"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.ford_q3)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.ford_q3])
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
|
||||
self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
|
||||
|
||||
@@ -1,7 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
from collections import defaultdict
|
||||
from typing import Any, Dict, List, Set
|
||||
from typing import Any, DefaultDict, Dict, List, Optional, Set, Tuple
|
||||
from tqdm import tqdm
|
||||
import capnp
|
||||
|
||||
import panda.python.uds as uds
|
||||
from cereal import car
|
||||
@@ -27,7 +28,8 @@ def chunks(l, n=128):
|
||||
yield l[i:i + n]
|
||||
|
||||
|
||||
def build_fw_dict(fw_versions, filter_brand=None):
|
||||
def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
|
||||
filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]:
|
||||
fw_versions_dict = defaultdict(set)
|
||||
for fw in fw_versions:
|
||||
if (filter_brand is None or fw.brand == filter_brand) and not fw.logging:
|
||||
@@ -36,14 +38,14 @@ def build_fw_dict(fw_versions, filter_brand=None):
|
||||
return dict(fw_versions_dict)
|
||||
|
||||
|
||||
def get_brand_addrs():
|
||||
brand_addrs = defaultdict(set)
|
||||
def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]:
|
||||
brand_addrs: DefaultDict[str, Set[Tuple[int, Optional[int]]]] = defaultdict(set)
|
||||
for brand, cars in VERSIONS.items():
|
||||
# Add ecus in database + extra ecus to match against
|
||||
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
|
||||
for fw in cars.values():
|
||||
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
|
||||
return brand_addrs
|
||||
return dict(brand_addrs)
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
|
||||
@@ -101,8 +103,8 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
|
||||
candidates = FW_VERSIONS
|
||||
|
||||
for candidate, fws in candidates.items():
|
||||
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
|
||||
for ecu, expected_versions in fws.items():
|
||||
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
|
||||
ecu_type = ecu[0]
|
||||
addr = ecu[1:]
|
||||
|
||||
@@ -214,7 +216,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
|
||||
cloudlog.warning("OBD multiplexing set successfully")
|
||||
|
||||
|
||||
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
|
||||
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
|
||||
List[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
|
||||
|
||||
all_car_fw = []
|
||||
@@ -235,7 +238,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
|
||||
return all_car_fw
|
||||
|
||||
|
||||
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
|
||||
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
|
||||
List[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
versions = VERSIONS.copy()
|
||||
params = Params()
|
||||
|
||||
@@ -286,11 +290,11 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
|
||||
set_obd_multiplexing(params, r.obd_multiplexing)
|
||||
|
||||
try:
|
||||
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
|
||||
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
|
||||
query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
|
||||
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
|
||||
|
||||
if addrs:
|
||||
query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
|
||||
if query_addrs:
|
||||
query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
|
||||
for (tx_addr, sub_addr), version in query.get_data(timeout).items():
|
||||
f = car.CarParams.CarFw.new_message()
|
||||
|
||||
|
||||
@@ -5,7 +5,7 @@ from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
@@ -89,9 +89,9 @@ class GMCarInfo(CarInfo):
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
|
||||
self.harness_kit = HarnessKit(Harness.gm)
|
||||
self.car_parts = CarParts.common([CarHarness.gm])
|
||||
else:
|
||||
self.harness_kit = HarnessKit(Harness.obd_ii, parts=[HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
|
||||
self.car_parts = CarParts.common([CarHarness.obd_ii])
|
||||
self.footnotes.append(Footnote.OBD_II)
|
||||
|
||||
|
||||
|
||||
@@ -68,7 +68,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
|
||||
("SCM_BUTTONS", 25),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
|
||||
if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CRV_HYBRID_BSM):
|
||||
checks.append((gearbox_msg, 50))
|
||||
else:
|
||||
checks.append((gearbox_msg, 100))
|
||||
@@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
|
||||
else:
|
||||
checks.append(("CRUISE_PARAMS", 50))
|
||||
|
||||
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
|
||||
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G, CAR.CRV_HYBRID_BSM):
|
||||
signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
|
||||
elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
|
||||
signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
|
||||
@@ -148,7 +148,6 @@ class CarState(CarStateBase):
|
||||
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
|
||||
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
|
||||
|
||||
self.brake_error = False
|
||||
self.brake_switch_prev = False
|
||||
self.brake_switch_active = False
|
||||
self.cruise_setting = 0
|
||||
@@ -179,7 +178,7 @@ class CarState(CarStateBase):
|
||||
# panda checks if the signal is non-zero
|
||||
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
|
||||
# TODO: find a common signal across all cars
|
||||
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
|
||||
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G, CAR.CRV_HYBRID_BSM):
|
||||
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
|
||||
elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
|
||||
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
|
||||
@@ -195,9 +194,17 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
|
||||
self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
|
||||
elif self.CP.openpilotLongitudinalControl:
|
||||
self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
|
||||
ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
|
||||
else:
|
||||
# On some cars, these two signals are always 1, this flag is masking a bug in release
|
||||
# FIXME: find and set the ACC faulted signals on more platforms
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"])
|
||||
|
||||
# Log non-critical stock ACC/LKAS faults if Nidec (camera)
|
||||
if self.CP.carFingerprint not in HONDA_BOSCH:
|
||||
ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"])
|
||||
|
||||
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
|
||||
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
@@ -332,12 +339,15 @@ class CarState(CarStateBase):
|
||||
("AEB_REQ_1", "BRAKE_COMMAND"),
|
||||
("FCW", "BRAKE_COMMAND"),
|
||||
("CHIME", "BRAKE_COMMAND"),
|
||||
("LKAS_PROBLEM", "LKAS_HUD"),
|
||||
("FCM_OFF", "ACC_HUD"),
|
||||
("FCM_OFF_2", "ACC_HUD"),
|
||||
("FCM_PROBLEM", "ACC_HUD"),
|
||||
("ACC_PROBLEM", "ACC_HUD"),
|
||||
("ICONS", "ACC_HUD")]
|
||||
checks += [
|
||||
("ACC_HUD", 10),
|
||||
("LKAS_HUD", 10),
|
||||
("BRAKE_COMMAND", 50),
|
||||
]
|
||||
|
||||
|
||||
@@ -7,6 +7,7 @@ from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, Honda
|
||||
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.disable_ecu import disable_ecu
|
||||
from common.params import Params
|
||||
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
@@ -50,7 +51,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.pcmCruise = not ret.enableGasInterceptor
|
||||
|
||||
if candidate == CAR.CRV_5G:
|
||||
if candidate in (CAR.CRV_5G, CAR.CRV_HYBRID_BSM):
|
||||
ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
|
||||
|
||||
# Detect Bosch cars with new HUD msgs
|
||||
@@ -164,7 +165,7 @@ class CarInterface(CarInterfaceBase):
|
||||
tire_stiffness_factor = 0.677
|
||||
ret.wheelSpeedFactor = 1.025
|
||||
|
||||
elif candidate == CAR.CRV_HYBRID:
|
||||
elif candidate in (CAR.CRV_HYBRID, CAR.CRV_HYBRID_BSM):
|
||||
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
|
||||
ret.wheelbase = 2.66
|
||||
ret.centerToFront = ret.wheelbase * 0.41
|
||||
@@ -326,9 +327,6 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# events
|
||||
events = self.create_common_events(ret, pcm_enable=False)
|
||||
if self.CS.brake_error:
|
||||
events.add(EventName.brakeUnavailable)
|
||||
|
||||
if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -97,6 +97,8 @@ class CAR:
|
||||
INSIGHT = "HONDA INSIGHT 2019"
|
||||
HONDA_E = "HONDA E 2020"
|
||||
|
||||
CRV_HYBRID_BSM = "HONDA CR-V HYBRID 2019 w/ BSM"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
CIVIC_DIESEL = CarFootnote(
|
||||
@@ -110,9 +112,9 @@ class HondaCarInfo(CarInfo):
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.carFingerprint in HONDA_BOSCH:
|
||||
self.harness_kit = HarnessKit(Harness.bosch_b) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else HarnessKit(Harness.bosch_a)
|
||||
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
|
||||
else:
|
||||
self.harness_kit = HarnessKit(Harness.nidec)
|
||||
self.car_parts = CarParts.common([CarHarness.nidec])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
@@ -146,7 +148,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
CAR.PILOT: [
|
||||
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
HondaCarInfo("Honda Passport 2019-22", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
],
|
||||
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
@@ -198,6 +200,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.CRV_HYBRID_BSM: {(Ecu.vsa, 0xfff, None): [b'\x00']},
|
||||
CAR.ACCORD: {
|
||||
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
|
||||
b'37805-6A0-8720\x00\x00',
|
||||
@@ -1130,6 +1133,7 @@ FW_VERSIONS = {
|
||||
b'37805-RLV-B210\x00\x00',
|
||||
b'37805-RLV-L160\x00\x00',
|
||||
b'37805-RLV-B420\x00\x00',
|
||||
b'37805-RLV-F120\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TG7-A030\x00\x00',
|
||||
@@ -1568,6 +1572,7 @@ DBC = {
|
||||
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
|
||||
CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None),
|
||||
CAR.CRV_HYBRID_BSM: dbc_dict('honda_accord_2018_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
|
||||
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
|
||||
@@ -1591,6 +1596,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
|
||||
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
|
||||
CAR.PILOT, CAR.RIDGELINE}
|
||||
HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
|
||||
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
|
||||
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G, CAR.CRV_HYBRID_BSM}
|
||||
HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
|
||||
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
|
||||
|
||||
@@ -173,8 +173,8 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
|
||||
|
||||
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
|
||||
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
|
||||
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
|
||||
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
|
||||
|
||||
gear = cp.vl[self.gear_msg_canfd]["GEAR"]
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
|
||||
@@ -457,8 +457,8 @@ class CarState(CarStateBase):
|
||||
("LEFT_LAMP", "BLINKERS"),
|
||||
("RIGHT_LAMP", "BLINKERS"),
|
||||
|
||||
("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"),
|
||||
("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"),
|
||||
("DRIVER_DOOR", "DOORS_SEATBELTS"),
|
||||
("DRIVER_SEATBELT", "DOORS_SEATBELTS"),
|
||||
]
|
||||
|
||||
checks = [
|
||||
@@ -486,6 +486,8 @@ class CarState(CarStateBase):
|
||||
|
||||
if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
|
||||
signals += [
|
||||
("COUNTER", "SCC_CONTROL"),
|
||||
("CHECKSUM", "SCC_CONTROL"),
|
||||
("ACCMode", "SCC_CONTROL"),
|
||||
("VSetDis", "SCC_CONTROL"),
|
||||
("CRUISE_STANDSTILL", "SCC_CONTROL"),
|
||||
@@ -528,6 +530,7 @@ class CarState(CarStateBase):
|
||||
elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
|
||||
signals += [
|
||||
("COUNTER", "SCC_CONTROL"),
|
||||
("CHECKSUM", "SCC_CONTROL"),
|
||||
("NEW_SIGNAL_1", "SCC_CONTROL"),
|
||||
("MainMode_ACC", "SCC_CONTROL"),
|
||||
("ACCMode", "SCC_CONTROL"),
|
||||
|
||||
@@ -21,7 +21,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
|
||||
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
|
||||
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
|
||||
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
|
||||
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020):
|
||||
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
|
||||
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
|
||||
values["CF_Lkas_LdwsOpt_USM"] = 2
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ from cereal import car
|
||||
from panda.python import uds
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -147,114 +147,114 @@ class HyundaiCarInfo(CarInfo):
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.ELANTRA: [
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_b)),
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.HYUNDAI_GENESIS: [
|
||||
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)), # TODO: check 2015 packages
|
||||
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)),
|
||||
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), # TODO: check 2015 packages
|
||||
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
|
||||
],
|
||||
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness_kit=HarnessKit(Harness.hyundai_h)), # TODO: confirm 2020-21 harness
|
||||
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness_kit=HarnessKit(Harness.hyundai_b)),
|
||||
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness_kit=HarnessKit(Harness.hyundai_o)),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness_kit=HarnessKit(Harness.hyundai_i)), # TODO: check packages
|
||||
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness_kit=HarnessKit(Harness.hyundai_d)),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness
|
||||
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
|
||||
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
|
||||
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.TUCSON: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
],
|
||||
CAR.PALISADE: [
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Kia Telluride 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
],
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.IONIQ_5: [
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_q)),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_q)),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
],
|
||||
CAR.TUCSON_4TH_GEN: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
],
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
|
||||
# Kia
|
||||
CAR.KIA_FORTE: [
|
||||
HyundaiCarInfo("Kia Forte 2019-21", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
HyundaiCarInfo("Kia Forte 2023", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_NIRO_EV: [
|
||||
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
],
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_NIRO_PHEV: [
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness_kit=HarnessKit(Harness.hyundai_d)),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
||||
],
|
||||
CAR.KIA_NIRO_HEV_2021: [
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness_kit=HarnessKit(Harness.hyundai_f)), # TODO: 2021 could be hyundai_d, verify
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify
|
||||
],
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness_kit=HarnessKit(Harness.hyundai_b)), # TODO: may support 2016, 2018
|
||||
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
|
||||
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
CAR.KIA_OPTIMA_H: [
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2019"),
|
||||
],
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.KIA_SORENTO: [
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.KIA_EV6: [
|
||||
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_p)),
|
||||
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_p))
|
||||
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
|
||||
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
|
||||
],
|
||||
|
||||
# Genesis
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: [
|
||||
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
],
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
CAR.GENESIS_GV70_1ST_GEN: [
|
||||
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_m)),
|
||||
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
],
|
||||
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness_kit=HarnessKit(Harness.hyundai_m)),
|
||||
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
}
|
||||
|
||||
class Buttons:
|
||||
@@ -542,14 +542,11 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.SONATA: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
|
||||
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ',
|
||||
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ',
|
||||
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ',
|
||||
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ',
|
||||
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ',
|
||||
b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
|
||||
@@ -851,18 +848,22 @@ FW_VERSIONS = {
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
|
||||
b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105',
|
||||
b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727',
|
||||
b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224',
|
||||
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14',
|
||||
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
|
||||
b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x87391312MTC1',
|
||||
b'\xf1\x87391312MTE0',
|
||||
b'\xf1\x87391312MTL0',
|
||||
],
|
||||
},
|
||||
CAR.SANTA_FE_PHEV_2022: {
|
||||
@@ -1101,12 +1102,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107',
|
||||
b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107',
|
||||
b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108',
|
||||
b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
|
||||
b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
|
||||
b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
|
||||
b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
|
||||
b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ',
|
||||
@@ -1120,6 +1123,7 @@ FW_VERSIONS = {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_G80: {
|
||||
|
||||
@@ -90,12 +90,14 @@ class IsoTpParallelQuery:
|
||||
for addr in self.functional_addrs:
|
||||
self._create_isotp_msg(addr, None, -1).send(self.request[0])
|
||||
|
||||
# If querying functional addrs, set up physical IsoTpMessages to send consecutive frames
|
||||
# Send first frame (single or first) to all addresses and receive asynchronously in the loop below.
|
||||
# If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames
|
||||
for msg in msgs.values():
|
||||
msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0)
|
||||
|
||||
results = {}
|
||||
start_time = time.monotonic()
|
||||
addrs_responded = set() # track addresses that have ever sent a valid iso-tp frame for timeout logging
|
||||
response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
|
||||
while True:
|
||||
self.rx()
|
||||
@@ -110,6 +112,7 @@ class IsoTpParallelQuery:
|
||||
|
||||
# Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
|
||||
if rx_in_progress:
|
||||
addrs_responded.add(tx_addr)
|
||||
response_timeouts[tx_addr] = time.monotonic() + timeout
|
||||
|
||||
if not dat:
|
||||
@@ -117,7 +120,7 @@ class IsoTpParallelQuery:
|
||||
|
||||
counter = request_counter[tx_addr]
|
||||
expected_response = self.response[counter]
|
||||
response_valid = dat[:len(expected_response)] == expected_response
|
||||
response_valid = dat.startswith(expected_response)
|
||||
|
||||
if response_valid:
|
||||
if counter + 1 < len(self.request):
|
||||
@@ -140,8 +143,14 @@ class IsoTpParallelQuery:
|
||||
cur_time = time.monotonic()
|
||||
for tx_addr in response_timeouts:
|
||||
if cur_time - response_timeouts[tx_addr] > 0:
|
||||
if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
|
||||
cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
|
||||
if not request_done[tx_addr]:
|
||||
if request_counter[tx_addr] > 0:
|
||||
cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
|
||||
elif tx_addr in addrs_responded:
|
||||
cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
|
||||
# TODO: handle functional addresses
|
||||
# else:
|
||||
# cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}")
|
||||
request_done[tx_addr] = True
|
||||
|
||||
# Break if all requests are done (finished or timed out)
|
||||
|
||||
@@ -44,6 +44,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
|
||||
|
||||
csum = csum % 256
|
||||
|
||||
values = {}
|
||||
if car_fingerprint in GEN1:
|
||||
values = {
|
||||
"LKAS_REQUEST": apply_steer,
|
||||
|
||||
@@ -3,7 +3,7 @@ from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -37,7 +37,7 @@ class CAR:
|
||||
@dataclass
|
||||
class MazdaCarInfo(CarInfo):
|
||||
package: str = "All"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.mazda)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.mazda])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
|
||||
|
||||
@@ -63,6 +63,7 @@ class CarController:
|
||||
can_sends.append(nissancan.create_steering_control(
|
||||
self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
|
||||
|
||||
# Below are the HUD messages. We copy the stock message and modify
|
||||
if self.CP.carFingerprint != CAR.ALTIMA:
|
||||
if self.frame % 2 == 0:
|
||||
can_sends.append(nissancan.create_lkas_hud_msg(
|
||||
|
||||
@@ -171,6 +171,7 @@ class CarState(CarStateBase):
|
||||
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
|
||||
("NEW_SIGNAL_2", "CRUISE_THROTTLE"),
|
||||
("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"),
|
||||
("COUNTER", "CRUISE_THROTTLE"),
|
||||
("unsure1", "CRUISE_THROTTLE"),
|
||||
("unsure2", "CRUISE_THROTTLE"),
|
||||
("unsure3", "CRUISE_THROTTLE"),
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
import copy
|
||||
import crcmod
|
||||
from selfdrive.car.nissan.values import CAR
|
||||
|
||||
@@ -23,7 +22,23 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
|
||||
|
||||
|
||||
def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
|
||||
values = copy.copy(cruise_throttle_msg)
|
||||
values = {s: cruise_throttle_msg[s] for s in [
|
||||
"COUNTER",
|
||||
"PROPILOT_BUTTON",
|
||||
"CANCEL_BUTTON",
|
||||
"GAS_PEDAL_INVERTED",
|
||||
"SET_BUTTON",
|
||||
"RES_BUTTON",
|
||||
"FOLLOW_DISTANCE_BUTTON",
|
||||
"NO_BUTTON_PRESSED",
|
||||
"GAS_PEDAL",
|
||||
"USER_BRAKE_PRESSED",
|
||||
"NEW_SIGNAL_2",
|
||||
"GAS_PRESSED_INVERTED",
|
||||
"unsure1",
|
||||
"unsure2",
|
||||
"unsure3",
|
||||
]}
|
||||
can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
|
||||
|
||||
values["CANCEL_BUTTON"] = 1
|
||||
@@ -37,7 +52,12 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
|
||||
|
||||
|
||||
def create_cancel_msg(packer, cancel_msg, cruise_cancel):
|
||||
values = copy.copy(cancel_msg)
|
||||
values = {s: cancel_msg[s] for s in [
|
||||
"CANCEL_SEATBELT",
|
||||
"NEW_SIGNAL_1",
|
||||
"NEW_SIGNAL_2",
|
||||
"NEW_SIGNAL_3",
|
||||
]}
|
||||
|
||||
if cruise_cancel:
|
||||
values["CANCEL_SEATBELT"] = 1
|
||||
@@ -46,7 +66,34 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel):
|
||||
|
||||
|
||||
def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
values = lkas_hud_msg
|
||||
values = {s: lkas_hud_msg[s] for s in [
|
||||
"LARGE_WARNING_FLASHING",
|
||||
"SIDE_RADAR_ERROR_FLASHING1",
|
||||
"SIDE_RADAR_ERROR_FLASHING2",
|
||||
"LEAD_CAR",
|
||||
"LEAD_CAR_ERROR",
|
||||
"FRONT_RADAR_ERROR",
|
||||
"FRONT_RADAR_ERROR_FLASHING",
|
||||
"SIDE_RADAR_ERROR_FLASHING3",
|
||||
"LKAS_ERROR_FLASHING",
|
||||
"SAFETY_SHIELD_ACTIVE",
|
||||
"RIGHT_LANE_GREEN_FLASH",
|
||||
"LEFT_LANE_GREEN_FLASH",
|
||||
"FOLLOW_DISTANCE",
|
||||
"AUDIBLE_TONE",
|
||||
"SPEED_SET_ICON",
|
||||
"SMALL_STEERING_WHEEL_ICON",
|
||||
"unknown59",
|
||||
"unknown55",
|
||||
"unknown26",
|
||||
"unknown28",
|
||||
"unknown31",
|
||||
"SET_SPEED",
|
||||
"unknown43",
|
||||
"unknown08",
|
||||
"unknown05",
|
||||
"unknown02",
|
||||
]}
|
||||
|
||||
values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
|
||||
values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
|
||||
@@ -59,7 +106,47 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le
|
||||
|
||||
|
||||
def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
|
||||
values = lkas_hud_info_msg
|
||||
values = {s: lkas_hud_info_msg[s] for s in [
|
||||
"NA_HIGH_ACCEL_TEMP",
|
||||
"SIDE_RADAR_NA_HIGH_CABIN_TEMP",
|
||||
"SIDE_RADAR_MALFUNCTION",
|
||||
"LKAS_MALFUNCTION",
|
||||
"FRONT_RADAR_MALFUNCTION",
|
||||
"SIDE_RADAR_NA_CLEAN_REAR_CAMERA",
|
||||
"NA_POOR_ROAD_CONDITIONS",
|
||||
"CURRENTLY_UNAVAILABLE",
|
||||
"SAFETY_SHIELD_OFF",
|
||||
"FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION",
|
||||
"PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED",
|
||||
"SIDE_IMPACT_NA_RADAR_OBSTRUCTION",
|
||||
"WARNING_DO_NOT_ENTER",
|
||||
"SIDE_IMPACT_SYSTEM_OFF",
|
||||
"SIDE_IMPACT_MALFUNCTION",
|
||||
"FRONT_COLLISION_MALFUNCTION",
|
||||
"SIDE_RADAR_MALFUNCTION2",
|
||||
"LKAS_MALFUNCTION2",
|
||||
"FRONT_RADAR_MALFUNCTION2",
|
||||
"PROPILOT_NA_MSGS",
|
||||
"BOTTOM_MSG",
|
||||
"HANDS_ON_WHEEL_WARNING",
|
||||
"WARNING_STEP_ON_BRAKE_NOW",
|
||||
"PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED",
|
||||
"PROPILOT_NA_HIGH_CABIN_TEMP",
|
||||
"WARNING_PROPILOT_MALFUNCTION",
|
||||
"ACC_UNAVAILABLE_HIGH_CABIN_TEMP",
|
||||
"ACC_NA_FRONT_CAMERA_IMPARED",
|
||||
"unknown07",
|
||||
"unknown10",
|
||||
"unknown15",
|
||||
"unknown23",
|
||||
"unknown19",
|
||||
"unknown31",
|
||||
"unknown32",
|
||||
"unknown46",
|
||||
"unknown61",
|
||||
"unknown55",
|
||||
"unknown50",
|
||||
]}
|
||||
|
||||
if steer_hud_alert:
|
||||
values["HANDS_ON_WHEEL_WARNING"] = 1
|
||||
|
||||
@@ -4,7 +4,7 @@ from typing import Dict, List, Optional, Union
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit, HarnessPart
|
||||
from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -30,13 +30,10 @@ class CAR:
|
||||
ALTIMA = "NISSAN ALTIMA 2020"
|
||||
|
||||
|
||||
NISSAN_HARNESS_PARTS = [HarnessPart.harness_box, HarnessPart.rj45_cable, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler]
|
||||
|
||||
|
||||
@dataclass
|
||||
class NissanCarInfo(CarInfo):
|
||||
package: str = "ProPILOT Assist"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.nissan_a, parts=NISSAN_HARNESS_PARTS)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.nissan_a])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
|
||||
@@ -44,7 +41,7 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
|
||||
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
|
||||
CAR.LEAF_IC: None, # same platforms
|
||||
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
|
||||
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness_kit=HarnessKit(Harness.nissan_b, parts=NISSAN_HARNESS_PARTS)),
|
||||
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
|
||||
}
|
||||
|
||||
FINGERPRINTS = {
|
||||
@@ -171,9 +168,9 @@ FW_VERSIONS = {
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None),
|
||||
CAR.LEAF: dbc_dict('nissan_leaf_2018', None),
|
||||
CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None),
|
||||
CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None),
|
||||
CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None),
|
||||
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
|
||||
CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
|
||||
CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
|
||||
CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
|
||||
CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
|
||||
}
|
||||
|
||||
@@ -10,10 +10,6 @@ class CarController:
|
||||
self.apply_steer_last = 0
|
||||
self.frame = 0
|
||||
|
||||
self.es_lkas_state_cnt = -1
|
||||
self.es_distance_cnt = -1
|
||||
self.es_dashstatus_cnt = -1
|
||||
self.infotainmentstatus_cnt = -1
|
||||
self.cruise_button_prev = 0
|
||||
self.last_cancel_frame = 0
|
||||
|
||||
@@ -29,7 +25,6 @@ class CarController:
|
||||
|
||||
# *** steering ***
|
||||
if (self.frame % self.p.STEER_STEP) == 0:
|
||||
|
||||
apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
|
||||
|
||||
# limits due to driver torque
|
||||
@@ -51,7 +46,7 @@ class CarController:
|
||||
# *** alerts and pcm cancel ***
|
||||
|
||||
if self.CP.carFingerprint in PREGLOBAL_CARS:
|
||||
if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
|
||||
if self.frame % 5 == 0:
|
||||
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
|
||||
# disengage ACC when OP is disengaged
|
||||
if pcm_cancel_cmd:
|
||||
@@ -68,7 +63,6 @@ class CarController:
|
||||
self.cruise_button_prev = cruise_button
|
||||
|
||||
can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
|
||||
self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
|
||||
|
||||
else:
|
||||
if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
|
||||
@@ -76,19 +70,15 @@ class CarController:
|
||||
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
|
||||
self.last_cancel_frame = self.frame
|
||||
|
||||
if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
|
||||
if self.frame % 10 == 0:
|
||||
can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
|
||||
self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
|
||||
|
||||
if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]:
|
||||
can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
|
||||
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
|
||||
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
|
||||
self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"]
|
||||
|
||||
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]:
|
||||
can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
|
||||
self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"]
|
||||
|
||||
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
|
||||
can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
|
||||
|
||||
@@ -110,6 +110,7 @@ class CarState(CarStateBase):
|
||||
def get_global_es_distance_signals():
|
||||
signals = [
|
||||
("COUNTER", "ES_Distance"),
|
||||
("CHECKSUM", "ES_Distance"),
|
||||
("Signal1", "ES_Distance"),
|
||||
("Cruise_Fault", "ES_Distance"),
|
||||
("Cruise_Throttle", "ES_Distance"),
|
||||
@@ -251,6 +252,7 @@ class CarState(CarStateBase):
|
||||
else:
|
||||
signals = [
|
||||
("COUNTER", "ES_DashStatus"),
|
||||
("CHECKSUM", "ES_DashStatus"),
|
||||
("PCB_Off", "ES_DashStatus"),
|
||||
("LDW_Off", "ES_DashStatus"),
|
||||
("Signal1", "ES_DashStatus"),
|
||||
@@ -278,6 +280,7 @@ class CarState(CarStateBase):
|
||||
("Cruise_State", "ES_DashStatus"),
|
||||
|
||||
("COUNTER", "ES_LKAS_State"),
|
||||
("CHECKSUM", "ES_LKAS_State"),
|
||||
("LKAS_Alert_Msg", "ES_LKAS_State"),
|
||||
("Signal1", "ES_LKAS_State"),
|
||||
("LKAS_ACTIVE", "ES_LKAS_State"),
|
||||
@@ -305,6 +308,8 @@ class CarState(CarStateBase):
|
||||
|
||||
if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
|
||||
signals += [
|
||||
("COUNTER", "INFOTAINMENT_STATUS"),
|
||||
("CHECKSUM", "INFOTAINMENT_STATUS"),
|
||||
("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"),
|
||||
("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"),
|
||||
("Signal1", "INFOTAINMENT_STATUS"),
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
import copy
|
||||
from cereal import car
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
@@ -18,7 +17,28 @@ def create_steering_status(packer):
|
||||
|
||||
|
||||
def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
|
||||
values = copy.copy(es_distance_msg)
|
||||
values = {s: es_distance_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
"COUNTER",
|
||||
"Signal1",
|
||||
"Cruise_Fault",
|
||||
"Cruise_Throttle",
|
||||
"Signal2",
|
||||
"Car_Follow",
|
||||
"Signal3",
|
||||
"Cruise_Soft_Disable",
|
||||
"Signal7",
|
||||
"Cruise_Brake_Active",
|
||||
"Distance_Swap",
|
||||
"Cruise_EPB",
|
||||
"Signal4",
|
||||
"Close_Distance",
|
||||
"Signal5",
|
||||
"Cruise_Cancel",
|
||||
"Cruise_Set",
|
||||
"Cruise_Resume",
|
||||
"Signal6",
|
||||
]}
|
||||
values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
|
||||
if pcm_cancel_cmd:
|
||||
values["Cruise_Cancel"] = 1
|
||||
@@ -26,7 +46,24 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
|
||||
|
||||
|
||||
def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
values = copy.copy(es_lkas_state_msg)
|
||||
values = {s: es_lkas_state_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
"COUNTER",
|
||||
"LKAS_Alert_Msg",
|
||||
"Signal1",
|
||||
"LKAS_ACTIVE",
|
||||
"LKAS_Dash_State",
|
||||
"Signal2",
|
||||
"Backward_Speed_Limit_Menu",
|
||||
"LKAS_Left_Line_Enable",
|
||||
"LKAS_Left_Line_Light_Blink",
|
||||
"LKAS_Right_Line_Enable",
|
||||
"LKAS_Right_Line_Light_Blink",
|
||||
"LKAS_Left_Line_Visible",
|
||||
"LKAS_Right_Line_Visible",
|
||||
"LKAS_Alert",
|
||||
"Signal3",
|
||||
]}
|
||||
|
||||
# Filter the stock LKAS "Keep hands on wheel" alert
|
||||
if values["LKAS_Alert_Msg"] == 1:
|
||||
@@ -69,7 +106,35 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
|
||||
|
||||
|
||||
def create_es_dashstatus(packer, dashstatus_msg):
|
||||
values = copy.copy(dashstatus_msg)
|
||||
values = {s: dashstatus_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
"COUNTER",
|
||||
"PCB_Off",
|
||||
"LDW_Off",
|
||||
"Signal1",
|
||||
"Cruise_State_Msg",
|
||||
"LKAS_State_Msg",
|
||||
"Signal2",
|
||||
"Cruise_Soft_Disable",
|
||||
"Cruise_Status_Msg",
|
||||
"Signal3",
|
||||
"Cruise_Distance",
|
||||
"Signal4",
|
||||
"Conventional_Cruise",
|
||||
"Signal5",
|
||||
"Cruise_Disengaged",
|
||||
"Cruise_Activated",
|
||||
"Signal6",
|
||||
"Cruise_Set_Speed",
|
||||
"Cruise_Fault",
|
||||
"Cruise_On",
|
||||
"Display_Own_Car",
|
||||
"Brake_Lights",
|
||||
"Car_Follow",
|
||||
"Signal7",
|
||||
"Far_Distance",
|
||||
"Cruise_State",
|
||||
]}
|
||||
|
||||
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
|
||||
if values["LKAS_State_Msg"] in (2, 3):
|
||||
@@ -80,18 +145,26 @@ def create_es_dashstatus(packer, dashstatus_msg):
|
||||
|
||||
def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
|
||||
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
|
||||
if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4):
|
||||
infotainmentstatus_msg["LKAS_State_Infotainment"] = 0
|
||||
values = {s: infotainmentstatus_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
"COUNTER",
|
||||
"LKAS_State_Infotainment",
|
||||
"LKAS_Blue_Lines",
|
||||
"Signal1",
|
||||
"Signal2",
|
||||
]}
|
||||
if values["LKAS_State_Infotainment"] in (3, 4):
|
||||
values["LKAS_State_Infotainment"] = 0
|
||||
|
||||
# Show Keep hands on wheel alert for openpilot steerRequired alert
|
||||
if visual_alert == VisualAlert.steerRequired:
|
||||
infotainmentstatus_msg["LKAS_State_Infotainment"] = 3
|
||||
values["LKAS_State_Infotainment"] = 3
|
||||
|
||||
# Show Obstacle Detected for fcw
|
||||
if visual_alert == VisualAlert.fcw:
|
||||
infotainmentstatus_msg["LKAS_State_Infotainment"] = 2
|
||||
values["LKAS_State_Infotainment"] = 2
|
||||
|
||||
return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg)
|
||||
return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values)
|
||||
|
||||
|
||||
# *** Subaru Pre-global ***
|
||||
@@ -112,9 +185,27 @@ def create_preglobal_steering_control(packer, apply_steer):
|
||||
|
||||
|
||||
def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
|
||||
values = copy.copy(es_distance_msg)
|
||||
values["Cruise_Button"] = cruise_button
|
||||
values = {s: es_distance_msg[s] for s in [
|
||||
"Cruise_Throttle",
|
||||
"Signal1",
|
||||
"Car_Follow",
|
||||
"Signal2",
|
||||
"Brake_On",
|
||||
"Distance_Swap",
|
||||
"Standstill",
|
||||
"Signal3",
|
||||
"Close_Distance",
|
||||
"Signal4",
|
||||
"Standstill_2",
|
||||
"Cruise_Fault",
|
||||
"Signal5",
|
||||
"COUNTER",
|
||||
"Signal6",
|
||||
"Cruise_Button",
|
||||
"Signal7",
|
||||
]}
|
||||
|
||||
values["Cruise_Button"] = cruise_button
|
||||
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
|
||||
|
||||
return packer.make_can_msg("ES_Distance", 0, values)
|
||||
|
||||
@@ -5,7 +5,7 @@ from typing import Dict, List, Union
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -53,13 +53,13 @@ class CAR:
|
||||
@dataclass
|
||||
class SubaruCarInfo(CarInfo):
|
||||
package: str = "EyeSight Driver Assistance"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.subaru_a)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.subaru_a])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
|
||||
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
|
||||
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)),
|
||||
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)),
|
||||
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
|
||||
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
|
||||
CAR.IMPREZA: [
|
||||
SubaruCarInfo("Subaru Impreza 2017-19"),
|
||||
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
|
||||
|
||||
@@ -24,17 +24,18 @@ class CarController:
|
||||
hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
|
||||
lkas_enabled = CC.latActive and not hands_on_fault
|
||||
|
||||
if lkas_enabled:
|
||||
# Angular rate limit based on speed
|
||||
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
|
||||
if self.frame % 2 == 0:
|
||||
if lkas_enabled:
|
||||
# Angular rate limit based on speed
|
||||
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
|
||||
|
||||
# To not fault the EPS
|
||||
apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
|
||||
else:
|
||||
apply_angle = CS.out.steeringAngleDeg
|
||||
# To not fault the EPS
|
||||
apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
|
||||
else:
|
||||
apply_angle = CS.out.steeringAngleDeg
|
||||
|
||||
self.apply_angle_last = apply_angle
|
||||
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame))
|
||||
self.apply_angle_last = apply_angle
|
||||
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
|
||||
|
||||
# Longitudinal control (in sync with stock message, about 40Hz)
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
@@ -59,7 +60,7 @@ class CarController:
|
||||
# TODO: HUD control
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steeringAngleDeg = apply_angle
|
||||
new_actuators.steeringAngleDeg = self.apply_angle_last
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
import copy
|
||||
import crcmod
|
||||
|
||||
from common.conversions import Conversions as CV
|
||||
@@ -18,12 +17,12 @@ class TeslaCAN:
|
||||
ret += sum(dat)
|
||||
return ret & 0xFF
|
||||
|
||||
def create_steering_control(self, angle, enabled, frame):
|
||||
def create_steering_control(self, angle, enabled, counter):
|
||||
values = {
|
||||
"DAS_steeringAngleRequest": -angle,
|
||||
"DAS_steeringHapticRequest": 0,
|
||||
"DAS_steeringControlType": 1 if enabled else 0,
|
||||
"DAS_steeringControlCounter": (frame % 16),
|
||||
"DAS_steeringControlCounter": counter,
|
||||
}
|
||||
|
||||
data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
|
||||
@@ -31,7 +30,40 @@ class TeslaCAN:
|
||||
return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
|
||||
|
||||
def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
|
||||
values = copy.copy(msg_stw_actn_req)
|
||||
# We copy this whole message when spamming cancel
|
||||
values = {s: msg_stw_actn_req[s] for s in [
|
||||
"SpdCtrlLvr_Stat",
|
||||
"VSL_Enbl_Rq",
|
||||
"SpdCtrlLvrStat_Inv",
|
||||
"DTR_Dist_Rq",
|
||||
"TurnIndLvr_Stat",
|
||||
"HiBmLvr_Stat",
|
||||
"WprWashSw_Psd",
|
||||
"WprWash_R_Sw_Posn_V2",
|
||||
"StW_Lvr_Stat",
|
||||
"StW_Cond_Flt",
|
||||
"StW_Cond_Psd",
|
||||
"HrnSw_Psd",
|
||||
"StW_Sw00_Psd",
|
||||
"StW_Sw01_Psd",
|
||||
"StW_Sw02_Psd",
|
||||
"StW_Sw03_Psd",
|
||||
"StW_Sw04_Psd",
|
||||
"StW_Sw05_Psd",
|
||||
"StW_Sw06_Psd",
|
||||
"StW_Sw07_Psd",
|
||||
"StW_Sw08_Psd",
|
||||
"StW_Sw09_Psd",
|
||||
"StW_Sw10_Psd",
|
||||
"StW_Sw11_Psd",
|
||||
"StW_Sw12_Psd",
|
||||
"StW_Sw13_Psd",
|
||||
"StW_Sw14_Psd",
|
||||
"StW_Sw15_Psd",
|
||||
"WprSw6Posn",
|
||||
"MC_STW_ACTN_RQ",
|
||||
"CRC_STW_ACTN_RQ",
|
||||
]}
|
||||
|
||||
if cancel:
|
||||
values["SpdCtrlLvr_Stat"] = 1
|
||||
|
||||
@@ -103,8 +103,8 @@ BUTTONS = [
|
||||
]
|
||||
|
||||
class CarControllerParams:
|
||||
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
|
||||
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
|
||||
JERK_LIMIT_MAX = 8
|
||||
JERK_LIMIT_MIN = -8
|
||||
ACCEL_TO_SPEED_MULTIPLIER = 3
|
||||
|
||||
@@ -83,3 +83,6 @@ SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
|
||||
SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
|
||||
SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
|
||||
SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
|
||||
|
||||
# custom
|
||||
HONDA CR-V HYBRID 2019 w/ BSM: HONDA CR-V HYBRID 2019
|
||||
|
||||
@@ -9,6 +9,7 @@ from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR,
|
||||
UNSUPPORTED_DSU_CAR
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.conversions import Conversions as CV
|
||||
from common.params import Params
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
@@ -40,8 +41,12 @@ class CarController:
|
||||
self.gas = 0
|
||||
self.accel = 0
|
||||
|
||||
self.dp_auto_lock_gear_prev = GearShifter.park
|
||||
self.dp_auto_lock_once = False
|
||||
self.dp_toyota_auto_lock_gear_prev = GearShifter.park
|
||||
self.dp_toyota_auto_lock_once = False
|
||||
p = Params()
|
||||
self.dp_toyota_auto_lock = p.get_bool("dp_toyota_auto_lock")
|
||||
self.dp_toyota_auto_unlock = p.get_bool("dp_toyota_auto_unlock")
|
||||
self.dp_toyota_sng = p.get_bool("dp_toyota_sng")
|
||||
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
@@ -97,7 +102,7 @@ class CarController:
|
||||
pcm_cancel_cmd = 1
|
||||
|
||||
# on entering standstill, send standstill request
|
||||
if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor):
|
||||
if not self.dp_toyota_sng and CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor):
|
||||
self.standstill_req = True
|
||||
if CS.pcm_acc_status != 8:
|
||||
# pcm entered standstill or it's disabled
|
||||
@@ -113,13 +118,15 @@ class CarController:
|
||||
# https://github.com/AlexandreSato/animalpilot/blob/personal/doors.py
|
||||
if not CS.out.doorOpen:
|
||||
gear = CS.out.gearShifter
|
||||
if gear == GearShifter.park and self.dp_auto_lock_gear_prev != gear:
|
||||
can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
|
||||
self.dp_auto_lock_once = False
|
||||
elif gear == GearShifter.drive and not self.dp_auto_lock_once and CS.out.vEgo >= LOCK_AT_SPEED:
|
||||
can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
|
||||
self.dp_auto_lock_once = True
|
||||
self.dp_auto_lock_gear_prev = gear
|
||||
if gear == GearShifter.park and self.dp_toyota_auto_lock_gear_prev != gear:
|
||||
if self.dp_toyota_auto_lock:
|
||||
can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
|
||||
self.dp_toyota_auto_lock_once = False
|
||||
elif gear == GearShifter.drive and not self.dp_toyota_auto_lock_once and CS.out.vEgo >= LOCK_AT_SPEED:
|
||||
if self.dp_toyota_auto_unlock:
|
||||
can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
|
||||
self.dp_toyota_auto_lock_once = True
|
||||
self.dp_toyota_auto_lock_gear_prev = gear
|
||||
|
||||
# *** control msgs ***
|
||||
# print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
|
||||
|
||||
@@ -6,6 +6,7 @@ from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControlle
|
||||
MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
|
||||
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.params import Params
|
||||
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
@@ -217,6 +218,13 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
|
||||
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
|
||||
|
||||
# toyota radar acc car should consider radarUnavailable = True
|
||||
# and when radarUnavailable, openpilot longitudinal control is allowed when smart dsu is installed and experimental_long is on
|
||||
ret.radarUnavailable = candidate in RADAR_ACC_CAR
|
||||
if ret.radarUnavailable:
|
||||
ret.experimentalLongitudinalAvailable = bool(ret.flags & ToyotaFlags.SMART_DSU)
|
||||
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
|
||||
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ from typing import Dict, List, Union
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -102,7 +102,7 @@ class Footnote(Enum):
|
||||
@dataclass
|
||||
class ToyotaCarInfo(CarInfo):
|
||||
package: str = "All"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.toyota)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.toyota])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
||||
@@ -1131,7 +1131,6 @@ FW_VERSIONS = {
|
||||
b'\x01896630EF8000\x00\x00\x00\x00',
|
||||
b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
],
|
||||
|
||||
@@ -7,7 +7,8 @@ from cereal import car
|
||||
from panda.python import uds
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
|
||||
Device
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -153,23 +154,32 @@ class Footnote(Enum):
|
||||
PASSAT = CarFootnote(
|
||||
"Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
|
||||
Column.MODEL)
|
||||
VW_EXP_LONG = CarFootnote (
|
||||
SKODA_HEATED_WINDSHIELD = CarFootnote(
|
||||
"Some Škoda vehicles are equipped with heated windshields, which are known " +
|
||||
"to block GPS signal needed for some comma three functionality.",
|
||||
Column.MODEL)
|
||||
VW_EXP_LONG = CarFootnote(
|
||||
"Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
|
||||
"are limited to using stock ACC.",
|
||||
Column.LONGITUDINAL)
|
||||
VW_MQB_A0 = CarFootnote(
|
||||
"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.",
|
||||
Column.HARNESS)
|
||||
Column.HARDWARE)
|
||||
|
||||
|
||||
@dataclass
|
||||
class VWCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.j533, parts=[HarnessPart.harness_box, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
|
||||
car_parts: CarParts = CarParts.common([CarHarness.j533])
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
self.footnotes.insert(0, Footnote.VW_EXP_LONG)
|
||||
self.footnotes.append(Footnote.VW_EXP_LONG)
|
||||
if "SKODA" in CP.carFingerprint:
|
||||
self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
|
||||
|
||||
if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
|
||||
self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
@@ -195,11 +205,11 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
],
|
||||
CAR.GOLF_MK7: [
|
||||
VWCarInfo("Volkswagen e-Golf 2014-20"),
|
||||
VWCarInfo("Volkswagen Golf 2015-20"),
|
||||
VWCarInfo("Volkswagen Golf Alltrack 2015-19"),
|
||||
VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False),
|
||||
VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
|
||||
VWCarInfo("Volkswagen Golf GTD 2015-20"),
|
||||
VWCarInfo("Volkswagen Golf GTE 2015-20"),
|
||||
VWCarInfo("Volkswagen Golf GTI 2015-21"),
|
||||
VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False),
|
||||
VWCarInfo("Volkswagen Golf R 2015-19"),
|
||||
VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
|
||||
],
|
||||
@@ -633,6 +643,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870DD300045T \xf1\x891601',
|
||||
b'\xf1\x870DL300011H \xf1\x895201',
|
||||
b'\xf1\x870CW300042H \xf1\x891601',
|
||||
b'\xf1\x870CW300042H \xf1\x891607',
|
||||
b'\xf1\x870GC300042H \xf1\x891404',
|
||||
b'\xf1\x870D9300018C \xf1\x895297',
|
||||
b'\xf1\x870GC300043 \xf1\x892301',
|
||||
@@ -640,6 +651,7 @@ FW_VERSIONS = {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
|
||||
b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211',
|
||||
b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311',
|
||||
b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
|
||||
b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
|
||||
b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
|
||||
@@ -656,6 +668,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703',
|
||||
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
|
||||
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
|
||||
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905',
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
|
||||
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
|
||||
@@ -668,6 +681,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x873Q0907572B \xf1\x890192',
|
||||
b'\xf1\x873Q0907572C \xf1\x890195',
|
||||
b'\xf1\x873Q0907572C \xf1\x890196',
|
||||
b'\xf1\x875Q0907572P \xf1\x890682',
|
||||
b'\xf1\x875Q0907572R \xf1\x890771',
|
||||
],
|
||||
},
|
||||
@@ -1113,6 +1127,7 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.SKODA_KAROQ_MK1: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8705E906018P \xf1\x895472',
|
||||
b'\xf1\x8705E906018P \xf1\x896020',
|
||||
b'\xf1\x8705L906022BS\xf1\x890913',
|
||||
],
|
||||
@@ -1121,14 +1136,17 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870GC300014L \xf1\x892802',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100',
|
||||
b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
|
||||
b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x872Q0907572AB\xf1\x890397',
|
||||
b'\xf1\x872Q0907572M \xf1\x890233',
|
||||
b'\xf1\x872Q0907572T \xf1\x890383',
|
||||
],
|
||||
|
||||
@@ -20,7 +20,6 @@ from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted
|
||||
from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
|
||||
from selfdrive.controls.lib.longcontrol import LongControl
|
||||
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
|
||||
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
|
||||
from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from selfdrive.controls.lib.events import Events, ET
|
||||
@@ -34,10 +33,11 @@ LANE_DEPARTURE_THRESHOLD = 0.1
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
TESTING_CLOSET = "TESTING_CLOSET" in os.environ
|
||||
NOSENSOR = "NOSENSOR" in os.environ
|
||||
IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "mapd"}
|
||||
|
||||
NO_IR_CTRL = Params().get_bool("dp_no_ir_ctrl")
|
||||
NO_IR_CTRL = Params().get_bool("dp_device_no_ir_ctrl")
|
||||
if NO_IR_CTRL:
|
||||
IGNORE_PROCESSES |= {'driverCameraState', 'driverMonitoringState'}
|
||||
NO_FAN_CTRL = Params().get_bool("dp_no_fan_ctrl")
|
||||
@@ -91,6 +91,8 @@ class Controls:
|
||||
self.dp_no_gps_ctrl = self.params.get_bool("dp_no_gps_ctrl")
|
||||
self.dp_no_fan_ctrl = self.params.get_bool("dp_no_fan_ctrl")
|
||||
self.dp_alka = self.params.get_bool("dp_alka")
|
||||
self.dp_0813 = self.params.get_bool("dp_0813")
|
||||
self.dp_device_disable_temp_check = self.params.get_bool("dp_device_disable_temp_check")
|
||||
self.sm = sm
|
||||
if self.sm is None:
|
||||
ignore = ['testJoystick']
|
||||
@@ -103,7 +105,7 @@ class Controls:
|
||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
|
||||
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick'])
|
||||
ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
|
||||
|
||||
if CI is None:
|
||||
# wait for one pandaState and one CAN packet
|
||||
@@ -111,7 +113,7 @@ class Controls:
|
||||
get_one_can(self.can_sock)
|
||||
|
||||
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
|
||||
experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") and not is_release_branch()
|
||||
experimental_long_allowed = not self.dp_0813 and self.params.get_bool("ExperimentalLongitudinalEnabled") # and not is_release_branch()
|
||||
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
|
||||
else:
|
||||
self.CI, self.CP = CI, CI.CP
|
||||
@@ -152,7 +154,7 @@ class Controls:
|
||||
put_nonblocking("CarParamsPersistent", cp_bytes)
|
||||
|
||||
# cleanup old params
|
||||
if not self.CP.experimentalLongitudinalAvailable or is_release_branch():
|
||||
if not self.CP.experimentalLongitudinalAvailable:# or is_release_branch():
|
||||
self.params.remove("ExperimentalLongitudinalEnabled")
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
self.params.remove("ExperimentalMode")
|
||||
@@ -170,8 +172,6 @@ class Controls:
|
||||
self.LaC = LatControlAngle(self.CP, self.CI)
|
||||
elif self.CP.lateralTuning.which() == 'pid':
|
||||
self.LaC = LatControlPID(self.CP, self.CI)
|
||||
elif self.CP.lateralTuning.which() == 'indi':
|
||||
self.LaC = LatControlINDI(self.CP, self.CI)
|
||||
elif self.CP.lateralTuning.which() == 'torque':
|
||||
self.LaC = LatControlTorque(self.CP, self.CI)
|
||||
|
||||
@@ -197,6 +197,7 @@ class Controls:
|
||||
self.desired_curvature_rate = 0.0
|
||||
self.experimental_mode = False
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP)
|
||||
self.recalibrating_seen = False
|
||||
|
||||
# TODO: no longer necessary, aside from process replay
|
||||
self.sm['liveParameters'].valid = True
|
||||
@@ -276,7 +277,7 @@ class Controls:
|
||||
self.events.add_from_msg(CS.events)
|
||||
|
||||
# Create events for temperature, disk space, and memory
|
||||
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
|
||||
if not self.dp_device_disable_temp_check and self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
|
||||
self.events.add(EventName.overheat)
|
||||
if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
|
||||
# under 7% of space free no enable allowed
|
||||
@@ -305,7 +306,9 @@ class Controls:
|
||||
if cal_status == log.LiveCalibrationData.Status.uncalibrated:
|
||||
self.events.add(EventName.calibrationIncomplete)
|
||||
elif cal_status == log.LiveCalibrationData.Status.recalibrating:
|
||||
set_offroad_alert("Offroad_Recalibration", True)
|
||||
if not self.recalibrating_seen:
|
||||
set_offroad_alert("Offroad_Recalibration", True)
|
||||
self.recalibrating_seen = True
|
||||
self.events.add(EventName.calibrationRecalibrating)
|
||||
else:
|
||||
self.events.add(EventName.calibrationInvalid)
|
||||
@@ -389,7 +392,7 @@ class Controls:
|
||||
else:
|
||||
self.logged_comm_issue = None
|
||||
|
||||
if not self.sm['liveParameters'].valid:
|
||||
if not self.sm['liveParameters'].valid and not TESTING_CLOSET:
|
||||
self.events.add(EventName.vehicleModelInvalid)
|
||||
if not self.sm['lateralPlan'].mpcSolutionValid:
|
||||
self.events.add(EventName.plannerError)
|
||||
@@ -872,6 +875,8 @@ class Controls:
|
||||
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
|
||||
if self.CP.radarUnavailable and self.dp_0813:
|
||||
self.experimental_mode = False
|
||||
|
||||
# Sample data from sockets and get a carState
|
||||
CS = self.data_sample()
|
||||
|
||||
@@ -30,7 +30,7 @@
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_UnofficialHardware": {
|
||||
"text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, contact support@comma.ai.",
|
||||
"text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.",
|
||||
"severity": 1
|
||||
},
|
||||
"Offroad_StorageMissing": {
|
||||
|
||||
@@ -4,7 +4,7 @@ from cereal import car, log
|
||||
from common.conversions import Conversions as CV
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import DT_MDL
|
||||
from selfdrive.legacy_modeld.constants import T_IDXS
|
||||
from selfdrive.hybrid_modeld.constants import T_IDXS
|
||||
|
||||
# WARNING: this value was determined based on the model's training distribution,
|
||||
# model predictions above this speed can be unpredictable
|
||||
@@ -37,6 +37,13 @@ CRUISE_INTERVAL_SIGN = {
|
||||
ButtonType.decelCruise: -1,
|
||||
}
|
||||
|
||||
# rick - for 0813
|
||||
LAT_MPC_N = 16
|
||||
class MPC_COST_LAT:
|
||||
PATH = 1.0
|
||||
HEADING = 1.0
|
||||
STEER_RATE = 1.0
|
||||
|
||||
|
||||
class VCruiseHelper:
|
||||
def __init__(self, CP):
|
||||
|
||||
@@ -893,12 +893,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
ET.NO_ENTRY: NoEntryAlert(_("LKAS Fault: Restart the Car")),
|
||||
},
|
||||
|
||||
EventName.brakeUnavailable: {
|
||||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Cruise Fault: Restart the Car")),
|
||||
ET.PERMANENT: NormalPermanentAlert(_("Cruise Fault: Restart the car to engage")),
|
||||
ET.NO_ENTRY: NoEntryAlert(_("Cruise Fault: Restart the Car")),
|
||||
},
|
||||
|
||||
EventName.reverseGear: {
|
||||
ET.PERMANENT: Alert(
|
||||
_("Reverse\nGear"),
|
||||
|
||||
@@ -1,120 +0,0 @@
|
||||
import math
|
||||
import numpy as np
|
||||
|
||||
from cereal import log
|
||||
from common.filter_simple import FirstOrderFilter
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.controls.lib.latcontrol import LatControl
|
||||
|
||||
|
||||
class LatControlINDI(LatControl):
|
||||
def __init__(self, CP, CI):
|
||||
super().__init__(CP, CI)
|
||||
self.angle_steers_des = 0.
|
||||
|
||||
A = np.array([[1.0, DT_CTRL, 0.0],
|
||||
[0.0, 1.0, DT_CTRL],
|
||||
[0.0, 0.0, 1.0]])
|
||||
C = np.array([[1.0, 0.0, 0.0],
|
||||
[0.0, 1.0, 0.0]])
|
||||
|
||||
# Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
|
||||
# R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
|
||||
|
||||
# (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
|
||||
# K = np.transpose(K)
|
||||
K = np.array([[7.30262179e-01, 2.07003658e-04],
|
||||
[7.29394177e+00, 1.39159419e-02],
|
||||
[1.71022442e+01, 3.38495381e-02]])
|
||||
|
||||
self.speed = 0.
|
||||
|
||||
self.K = K
|
||||
self.A_K = A - np.dot(K, C)
|
||||
self.x = np.array([[0.], [0.], [0.]])
|
||||
|
||||
self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
|
||||
self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
|
||||
self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
|
||||
self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
|
||||
|
||||
self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
|
||||
self.reset()
|
||||
|
||||
@property
|
||||
def RC(self):
|
||||
return interp(self.speed, self._RC[0], self._RC[1])
|
||||
|
||||
@property
|
||||
def G(self):
|
||||
return interp(self.speed, self._G[0], self._G[1])
|
||||
|
||||
@property
|
||||
def outer_loop_gain(self):
|
||||
return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
|
||||
|
||||
@property
|
||||
def inner_loop_gain(self):
|
||||
return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
|
||||
|
||||
def reset(self):
|
||||
super().reset()
|
||||
self.steer_filter.x = 0.
|
||||
self.speed = 0.
|
||||
|
||||
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
|
||||
self.speed = CS.vEgo
|
||||
# Update Kalman filter
|
||||
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
|
||||
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
|
||||
|
||||
indi_log = log.ControlsState.LateralINDIState.new_message()
|
||||
indi_log.steeringAngleDeg = math.degrees(self.x[0])
|
||||
indi_log.steeringRateDeg = math.degrees(self.x[1])
|
||||
indi_log.steeringAccelDeg = math.degrees(self.x[2])
|
||||
|
||||
steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)
|
||||
steers_des += math.radians(params.angleOffsetDeg)
|
||||
indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
|
||||
|
||||
# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
|
||||
rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
|
||||
indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
|
||||
|
||||
if not active:
|
||||
indi_log.active = False
|
||||
self.steer_filter.x = 0.0
|
||||
output_steer = 0
|
||||
else:
|
||||
# Expected actuator value
|
||||
self.steer_filter.update_alpha(self.RC)
|
||||
self.steer_filter.update(last_actuators.steer)
|
||||
|
||||
# Compute acceleration error
|
||||
rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
|
||||
accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
|
||||
accel_error = accel_sp - self.x[2]
|
||||
|
||||
# Compute change in actuator
|
||||
g_inv = 1. / self.G
|
||||
delta_u = g_inv * accel_error
|
||||
|
||||
# If steering pressed, only allow wind down
|
||||
if CS.steeringPressed and (delta_u * last_actuators.steer > 0):
|
||||
delta_u = 0
|
||||
|
||||
output_steer = self.steer_filter.x + delta_u
|
||||
|
||||
output_steer = clip(output_steer, -self.steer_max, self.steer_max)
|
||||
|
||||
indi_log.active = True
|
||||
indi_log.rateSetPoint = float(rate_sp)
|
||||
indi_log.accelSetPoint = float(accel_sp)
|
||||
indi_log.accelError = float(accel_error)
|
||||
indi_log.delayedOutput = float(self.steer_filter.x)
|
||||
indi_log.delta = float(delta_u)
|
||||
indi_log.output = float(output_steer)
|
||||
indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
|
||||
|
||||
return float(output_steer), float(steers_des), indi_log
|
||||
@@ -1,544 +0,0 @@
|
||||
{
|
||||
"acados_include_path": "/data/openpilot/third_party/acados/include/acados/include",
|
||||
"acados_lib_path": "/data/openpilot/third_party/acados/include/acados/lib",
|
||||
"code_export_directory": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code",
|
||||
"constraints": {
|
||||
"C": [],
|
||||
"C_e": [],
|
||||
"D": [],
|
||||
"constr_type": "BGH",
|
||||
"constr_type_e": "BGH",
|
||||
"idxbu": [],
|
||||
"idxbx": [
|
||||
2,
|
||||
3
|
||||
],
|
||||
"idxbx_0": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3
|
||||
],
|
||||
"idxbx_e": [],
|
||||
"idxbxe_0": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3
|
||||
],
|
||||
"idxsbu": [],
|
||||
"idxsbx": [],
|
||||
"idxsbx_e": [],
|
||||
"idxsg": [],
|
||||
"idxsg_e": [],
|
||||
"idxsh": [],
|
||||
"idxsh_e": [],
|
||||
"idxsphi": [],
|
||||
"idxsphi_e": [],
|
||||
"lbu": [],
|
||||
"lbx": [
|
||||
-1.5707963267948966,
|
||||
-0.8726646259971648
|
||||
],
|
||||
"lbx_0": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"lbx_e": [],
|
||||
"lg": [],
|
||||
"lg_e": [],
|
||||
"lh": [],
|
||||
"lh_e": [],
|
||||
"lphi": [],
|
||||
"lphi_e": [],
|
||||
"lsbu": [],
|
||||
"lsbx": [],
|
||||
"lsbx_e": [],
|
||||
"lsg": [],
|
||||
"lsg_e": [],
|
||||
"lsh": [],
|
||||
"lsh_e": [],
|
||||
"lsphi": [],
|
||||
"lsphi_e": [],
|
||||
"ubu": [],
|
||||
"ubx": [
|
||||
1.5707963267948966,
|
||||
0.8726646259971648
|
||||
],
|
||||
"ubx_0": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"ubx_e": [],
|
||||
"ug": [],
|
||||
"ug_e": [],
|
||||
"uh": [],
|
||||
"uh_e": [],
|
||||
"uphi": [],
|
||||
"uphi_e": [],
|
||||
"usbu": [],
|
||||
"usbx": [],
|
||||
"usbx_e": [],
|
||||
"usg": [],
|
||||
"usg_e": [],
|
||||
"ush": [],
|
||||
"ush_e": [],
|
||||
"usphi": [],
|
||||
"usphi_e": []
|
||||
},
|
||||
"cost": {
|
||||
"Vu": [
|
||||
[
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"Vu_0": [
|
||||
[
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"Vx": [
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"Vx_0": [
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"Vx_e": [
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"Vz": [],
|
||||
"Vz_0": [],
|
||||
"W": [
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"W_0": [
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"W_e": [
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
],
|
||||
"Zl": [],
|
||||
"Zl_e": [],
|
||||
"Zu": [],
|
||||
"Zu_e": [],
|
||||
"cost_ext_fun_type": "casadi",
|
||||
"cost_ext_fun_type_0": "casadi",
|
||||
"cost_ext_fun_type_e": "casadi",
|
||||
"cost_type": "NONLINEAR_LS",
|
||||
"cost_type_0": "NONLINEAR_LS",
|
||||
"cost_type_e": "NONLINEAR_LS",
|
||||
"yref": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"yref_0": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"yref_e": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"zl": [],
|
||||
"zl_e": [],
|
||||
"zu": [],
|
||||
"zu_e": []
|
||||
},
|
||||
"cython_include_dirs": "/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include",
|
||||
"dims": {
|
||||
"N": 16,
|
||||
"nbu": 0,
|
||||
"nbx": 2,
|
||||
"nbx_0": 4,
|
||||
"nbx_e": 0,
|
||||
"nbxe_0": 4,
|
||||
"ng": 0,
|
||||
"ng_e": 0,
|
||||
"nh": 0,
|
||||
"nh_e": 0,
|
||||
"np": 2,
|
||||
"nphi": 0,
|
||||
"nphi_e": 0,
|
||||
"nr": 0,
|
||||
"nr_e": 0,
|
||||
"ns": 0,
|
||||
"ns_e": 0,
|
||||
"nsbu": 0,
|
||||
"nsbx": 0,
|
||||
"nsbx_e": 0,
|
||||
"nsg": 0,
|
||||
"nsg_e": 0,
|
||||
"nsh": 0,
|
||||
"nsh_e": 0,
|
||||
"nsphi": 0,
|
||||
"nsphi_e": 0,
|
||||
"nu": 1,
|
||||
"nx": 4,
|
||||
"ny": 5,
|
||||
"ny_0": 5,
|
||||
"ny_e": 3,
|
||||
"nz": 0
|
||||
},
|
||||
"model": {
|
||||
"dyn_disc_fun": null,
|
||||
"dyn_disc_fun_jac": null,
|
||||
"dyn_disc_fun_jac_hess": null,
|
||||
"dyn_ext_fun_type": "casadi",
|
||||
"dyn_source_discrete": null,
|
||||
"gnsf": {
|
||||
"nontrivial_f_LO": 1,
|
||||
"purely_linear": 0
|
||||
},
|
||||
"name": "lat"
|
||||
},
|
||||
"parameter_values": [
|
||||
0.0,
|
||||
0.0
|
||||
],
|
||||
"problem_class": "OCP",
|
||||
"simulink_opts": {
|
||||
"inputs": {
|
||||
"cost_W": 0,
|
||||
"cost_W_0": 0,
|
||||
"cost_W_e": 0,
|
||||
"lbu": 1,
|
||||
"lbx": 1,
|
||||
"lbx_0": 1,
|
||||
"lbx_e": 1,
|
||||
"lg": 1,
|
||||
"lh": 1,
|
||||
"parameter_traj": 1,
|
||||
"reset_solver": 0,
|
||||
"u_init": 0,
|
||||
"ubu": 1,
|
||||
"ubx": 1,
|
||||
"ubx_0": 1,
|
||||
"ubx_e": 1,
|
||||
"ug": 1,
|
||||
"uh": 1,
|
||||
"x_init": 0,
|
||||
"y_ref": 1,
|
||||
"y_ref_0": 1,
|
||||
"y_ref_e": 1
|
||||
},
|
||||
"outputs": {
|
||||
"CPU_time": 1,
|
||||
"CPU_time_lin": 0,
|
||||
"CPU_time_qp": 0,
|
||||
"CPU_time_sim": 0,
|
||||
"KKT_residual": 1,
|
||||
"solver_status": 1,
|
||||
"sqp_iter": 1,
|
||||
"u0": 1,
|
||||
"utraj": 0,
|
||||
"x1": 1,
|
||||
"xtraj": 0
|
||||
},
|
||||
"samplingtime": "t0"
|
||||
},
|
||||
"solver_options": {
|
||||
"Tsim": 0.009765625,
|
||||
"alpha_min": 0.05,
|
||||
"alpha_reduction": 0.7,
|
||||
"collocation_type": "GAUSS_LEGENDRE",
|
||||
"eps_sufficient_descent": 0.0001,
|
||||
"exact_hess_constr": 1,
|
||||
"exact_hess_cost": 1,
|
||||
"exact_hess_dyn": 1,
|
||||
"ext_cost_num_hess": 0,
|
||||
"full_step_dual": 0,
|
||||
"globalization": "FIXED_STEP",
|
||||
"globalization_use_SOC": 0,
|
||||
"hessian_approx": "GAUSS_NEWTON",
|
||||
"hpipm_mode": "BALANCE",
|
||||
"initialize_t_slacks": 0,
|
||||
"integrator_type": "ERK",
|
||||
"levenberg_marquardt": 0.0,
|
||||
"line_search_use_sufficient_descent": 0,
|
||||
"model_external_shared_lib_dir": null,
|
||||
"model_external_shared_lib_name": null,
|
||||
"nlp_solver_max_iter": 100,
|
||||
"nlp_solver_step_length": 1.0,
|
||||
"nlp_solver_tol_comp": 1e-06,
|
||||
"nlp_solver_tol_eq": 1e-06,
|
||||
"nlp_solver_tol_ineq": 1e-06,
|
||||
"nlp_solver_tol_stat": 1e-06,
|
||||
"nlp_solver_type": "SQP_RTI",
|
||||
"print_level": 0,
|
||||
"qp_solver": "PARTIAL_CONDENSING_HPIPM",
|
||||
"qp_solver_cond_N": 1,
|
||||
"qp_solver_iter_max": 1,
|
||||
"qp_solver_tol_comp": null,
|
||||
"qp_solver_tol_eq": null,
|
||||
"qp_solver_tol_ineq": null,
|
||||
"qp_solver_tol_stat": null,
|
||||
"qp_solver_warm_start": 0,
|
||||
"regularize_method": null,
|
||||
"sim_method_jac_reuse": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"sim_method_newton_iter": 3,
|
||||
"sim_method_num_stages": [
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4,
|
||||
4
|
||||
],
|
||||
"sim_method_num_steps": [
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1,
|
||||
1
|
||||
],
|
||||
"tf": 2.5,
|
||||
"time_steps": [
|
||||
0.009765625,
|
||||
0.029296875,
|
||||
0.048828125,
|
||||
0.068359375,
|
||||
0.087890625,
|
||||
0.107421875,
|
||||
0.126953125,
|
||||
0.146484375,
|
||||
0.166015625,
|
||||
0.185546875,
|
||||
0.205078125,
|
||||
0.224609375,
|
||||
0.244140625,
|
||||
0.263671875,
|
||||
0.283203125,
|
||||
0.302734375
|
||||
]
|
||||
}
|
||||
}
|
||||
@@ -1,103 +0,0 @@
|
||||
/*
|
||||
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
||||
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
||||
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
||||
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
||||
*
|
||||
* This file is part of acados.
|
||||
*
|
||||
* The 2-Clause BSD License
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.;
|
||||
*/
|
||||
|
||||
#ifndef ACADOS_SIM_lat_H_
|
||||
#define ACADOS_SIM_lat_H_
|
||||
|
||||
#include "acados_c/sim_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
|
||||
#define LAT_NX 4
|
||||
#define LAT_NZ 0
|
||||
#define LAT_NU 1
|
||||
#define LAT_NP 2
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
// ** capsule for solver data **
|
||||
typedef struct sim_solver_capsule
|
||||
{
|
||||
// acados objects
|
||||
sim_in *acados_sim_in;
|
||||
sim_out *acados_sim_out;
|
||||
sim_solver *acados_sim_solver;
|
||||
sim_opts *acados_sim_opts;
|
||||
sim_config *acados_sim_config;
|
||||
void *acados_sim_dims;
|
||||
|
||||
/* external functions */
|
||||
// ERK
|
||||
external_function_param_casadi * sim_forw_vde_casadi;
|
||||
external_function_param_casadi * sim_expl_ode_fun_casadi;
|
||||
external_function_param_casadi * sim_expl_ode_hess;
|
||||
|
||||
// IRK
|
||||
external_function_param_casadi * sim_impl_dae_fun;
|
||||
external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z;
|
||||
external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z;
|
||||
external_function_param_casadi * sim_impl_dae_hess;
|
||||
|
||||
// GNSF
|
||||
external_function_param_casadi * sim_gnsf_phi_fun;
|
||||
external_function_param_casadi * sim_gnsf_phi_fun_jac_y;
|
||||
external_function_param_casadi * sim_gnsf_phi_jac_y_uhat;
|
||||
external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
|
||||
external_function_param_casadi * sim_gnsf_get_matrices_fun;
|
||||
|
||||
} sim_solver_capsule;
|
||||
|
||||
|
||||
ACADOS_SYMBOL_EXPORT int lat_acados_sim_create(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT int lat_acados_sim_solve(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT int lat_acados_sim_free(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
|
||||
|
||||
ACADOS_SYMBOL_EXPORT sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT void * lat_acados_get_sim_dims(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule);
|
||||
ACADOS_SYMBOL_EXPORT sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule);
|
||||
|
||||
|
||||
ACADOS_SYMBOL_EXPORT sim_solver_capsule * lat_acados_sim_solver_create_capsule(void);
|
||||
ACADOS_SYMBOL_EXPORT int lat_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // ACADOS_SIM_lat_H_
|
||||
@@ -1,125 +0,0 @@
|
||||
%
|
||||
% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
||||
% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
||||
% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
||||
% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
||||
%
|
||||
% This file is part of acados.
|
||||
%
|
||||
% The 2-Clause BSD License
|
||||
%
|
||||
% Redistribution and use in source and binary forms, with or without
|
||||
% modification, are permitted provided that the following conditions are met:
|
||||
%
|
||||
% 1. Redistributions of source code must retain the above copyright notice,
|
||||
% this list of conditions and the following disclaimer.
|
||||
%
|
||||
% 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
% this list of conditions and the following disclaimer in the documentation
|
||||
% and/or other materials provided with the distribution.
|
||||
%
|
||||
% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
% POSSIBILITY OF SUCH DAMAGE.;
|
||||
%
|
||||
|
||||
SOURCES = { ...
|
||||
'lat_model/lat_expl_ode_fun.c', ...
|
||||
'lat_model/lat_expl_vde_forw.c',...
|
||||
'lat_cost/lat_cost_y_0_fun.c',...
|
||||
'lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',...
|
||||
'lat_cost/lat_cost_y_0_hess.c',...
|
||||
'lat_cost/lat_cost_y_fun.c',...
|
||||
'lat_cost/lat_cost_y_fun_jac_ut_xt.c',...
|
||||
'lat_cost/lat_cost_y_hess.c',...
|
||||
'lat_cost/lat_cost_y_e_fun.c',...
|
||||
'lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',...
|
||||
'lat_cost/lat_cost_y_e_hess.c',...
|
||||
'acados_solver_sfunction_lat.c', ...
|
||||
'acados_solver_lat.c'
|
||||
};
|
||||
|
||||
INC_PATH = '/data/openpilot/third_party/acados/include/acados/include';
|
||||
|
||||
INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
|
||||
['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
|
||||
['-I', fullfile(INC_PATH, 'acados')], ...
|
||||
['-I', fullfile(INC_PATH)]};
|
||||
|
||||
|
||||
|
||||
CFLAGS = 'CFLAGS=$CFLAGS';
|
||||
LDFLAGS = 'LDFLAGS=$LDFLAGS';
|
||||
COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
|
||||
COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
|
||||
|
||||
|
||||
|
||||
LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/include/acados/lib')];
|
||||
|
||||
LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
|
||||
|
||||
% acados linking libraries and flags
|
||||
|
||||
|
||||
mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
|
||||
LIB_PATH, LIBS{:}, SOURCES{:}, ...
|
||||
'-output', 'acados_solver_sfunction_lat' );
|
||||
|
||||
fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_lat', '.', ...
|
||||
eval('mexext')] );
|
||||
|
||||
|
||||
%% print note on usage of s-function
|
||||
fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
|
||||
input_note = 'Inputs are:\n';
|
||||
i_in = 1;
|
||||
input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
|
||||
' size [4]\n ');
|
||||
i_in = i_in + 1;
|
||||
input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
|
||||
' size [4]\n ');
|
||||
i_in = i_in + 1;
|
||||
input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
|
||||
' size [34]\n ');
|
||||
i_in = i_in + 1;
|
||||
input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [5]\n ');
|
||||
i_in = i_in + 1;
|
||||
input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
|
||||
' size [75]\n ');
|
||||
i_in = i_in + 1;
|
||||
input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [3]\n ');
|
||||
i_in = i_in + 1;
|
||||
input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [30]\n ');
|
||||
i_in = i_in + 1;
|
||||
input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [30]\n ');
|
||||
i_in = i_in + 1;
|
||||
|
||||
fprintf(input_note)
|
||||
|
||||
disp(' ')
|
||||
|
||||
output_note = 'Outputs are:\n';
|
||||
i_out = 0;
|
||||
i_out = i_out + 1;
|
||||
output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n ');
|
||||
i_out = i_out + 1;
|
||||
output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
|
||||
i_out = i_out + 1;
|
||||
output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
|
||||
i_out = i_out + 1;
|
||||
output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
|
||||
i_out = i_out + 1;
|
||||
output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
|
||||
i_out = i_out + 1;
|
||||
output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
|
||||
|
||||
fprintf(output_note)
|
||||
@@ -5,7 +5,7 @@ import numpy as np
|
||||
from casadi import SX, vertcat, sin, cos
|
||||
from common.realtime import sec_since_boot
|
||||
# WARNING: imports outside of constants will not trigger a rebuild
|
||||
from selfdrive.legacy_modeld.constants import T_IDXS
|
||||
from selfdrive.hybrid_modeld.constants import T_IDXS
|
||||
|
||||
if __name__ == '__main__': # generating code
|
||||
from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
|
||||
|
||||
@@ -129,7 +129,7 @@ class LateralPlanner:
|
||||
self.last_cloudlog_t = t
|
||||
cloudlog.warning("Lateral mpc - nan: True")
|
||||
|
||||
if self.lat_mpc.cost > 20000. or mpc_nans:
|
||||
if self.lat_mpc.cost > 1e6 or mpc_nans:
|
||||
self.solution_invalid_cnt += 1
|
||||
else:
|
||||
self.solution_invalid_cnt = 0
|
||||
|
||||
Executable → Regular
+5
-5
@@ -5,6 +5,8 @@ import numpy as np
|
||||
from casadi import SX, vertcat, sin, cos
|
||||
|
||||
from common.realtime import sec_since_boot
|
||||
# from selfdrive.controls.lib.drive_helpers import LAT_MPC_N as N
|
||||
N = 16
|
||||
from selfdrive.legacy_modeld.constants import T_IDXS
|
||||
|
||||
if __name__ == '__main__': # generating code
|
||||
@@ -19,7 +21,6 @@ X_DIM = 4
|
||||
P_DIM = 2
|
||||
MODEL_NAME = 'lat'
|
||||
ACADOS_SOLVER_TYPE = 'SQP_RTI'
|
||||
N = 16
|
||||
|
||||
def gen_lat_model():
|
||||
model = AcadosModel()
|
||||
@@ -89,7 +90,7 @@ def gen_lat_ocp():
|
||||
# TODO hacky weights to keep behavior the same
|
||||
ocp.model.cost_y_expr = vertcat(y_ego,
|
||||
((v_ego +5.0) * psi_ego),
|
||||
((v_ego + 5.0) * 4.0 * curv_rate))
|
||||
((v_ego +5.0) * 4 * curv_rate))
|
||||
ocp.model.cost_y_expr_e = vertcat(y_ego,
|
||||
((v_ego +5.0) * psi_ego))
|
||||
|
||||
@@ -147,7 +148,7 @@ class LateralMpc():
|
||||
#TODO hacky weights to keep behavior the same
|
||||
self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2])
|
||||
|
||||
def run(self, x0, p, y_pts, heading_pts, curv_rate_pts):
|
||||
def run(self, x0, p, y_pts, heading_pts):
|
||||
x0_cp = np.copy(x0)
|
||||
p_cp = np.copy(p)
|
||||
self.solver.constraints_set(0, "lbx", x0_cp)
|
||||
@@ -156,7 +157,6 @@ class LateralMpc():
|
||||
v_ego = p_cp[0]
|
||||
# rotation_radius = p_cp[1]
|
||||
self.yref[:,1] = heading_pts*(v_ego+5.0)
|
||||
self.yref[:,2] = curv_rate_pts * (v_ego+5.0) * 4.0
|
||||
for i in range(N):
|
||||
self.solver.cost_set(i, "yref", self.yref[i])
|
||||
self.solver.set(i, "p", p_cp)
|
||||
@@ -177,4 +177,4 @@ class LateralMpc():
|
||||
if __name__ == "__main__":
|
||||
ocp = gen_lat_ocp()
|
||||
AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
|
||||
# AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
|
||||
# AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
|
||||
@@ -1,47 +1,46 @@
|
||||
'''
|
||||
This is the lateral_planner from 0.8.16
|
||||
|
||||
reason I keep this as a separate file is that Nuclear Grade model released during 0.8.15 / 0.8.16.
|
||||
So it could handle better with old planners.
|
||||
|
||||
Note 1: This may not work in newer version.
|
||||
|
||||
'''
|
||||
|
||||
import numpy as np
|
||||
from common.realtime import sec_since_boot, DT_MDL
|
||||
from common.numpy_fast import interp
|
||||
from system.swaglog import cloudlog
|
||||
from selfdrive.controls.lib.legacy_lateral_mpc_lib.lat_mpc import LateralMpc
|
||||
from selfdrive.controls.lib.drive_helpers import CONTROL_N
|
||||
from selfdrive.controls.lib.legacy_lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
|
||||
from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
|
||||
from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
|
||||
from selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
from common.params import Params
|
||||
|
||||
class MPC_COST_LAT:
|
||||
PATH = 1.0
|
||||
HEADING = 1.0
|
||||
STEER_RATE = 1.0
|
||||
STEER_RATE_COST = {
|
||||
"chrysler": 0.7,
|
||||
"ford": 1.,
|
||||
"gm": 1.,
|
||||
"honda": 0.5,
|
||||
"hyundai": 0.5,
|
||||
"mazda": 1.,
|
||||
"nissan": 0.5,
|
||||
"subaru": 0.7,
|
||||
"tesla": 0.5,
|
||||
"toyota": 1.,
|
||||
"volkswagen": 1.,
|
||||
}
|
||||
|
||||
class LateralPlanner:
|
||||
def __init__(self, CP):
|
||||
# rick - Change this to switch laneline / laneless mode
|
||||
self.use_lanelines = False
|
||||
self.LP = LanePlanner()
|
||||
self.DH = DesireHelper()
|
||||
self.dp_lat_lane_priority_mode = Params().get_bool("dp_lat_lane_priority_mode")
|
||||
self.dp_lat_lane_priority_mode_active = False
|
||||
|
||||
# Vehicle model parameters used to calculate lateral movement of car
|
||||
self.factor1 = CP.wheelbase - CP.centerToFront
|
||||
self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear)
|
||||
self.last_cloudlog_t = 0
|
||||
try:
|
||||
self.steer_rate_cost = STEER_RATE_COST[CP.carName]
|
||||
except:
|
||||
self.steer_rate_cost = 0.
|
||||
self.solution_invalid_cnt = 0
|
||||
|
||||
self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3))
|
||||
self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.t_idxs = np.arange(TRAJECTORY_SIZE)
|
||||
self.y_pts = np.zeros(TRAJECTORY_SIZE)
|
||||
|
||||
@@ -62,7 +61,7 @@ class LateralPlanner:
|
||||
if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
|
||||
self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
|
||||
self.t_idxs = np.array(md.position.t)
|
||||
self.plan_yaw = np.array(md.orientation.z)
|
||||
self.plan_yaw = list(md.orientation.z)
|
||||
if len(md.position.xStd) == TRAJECTORY_SIZE:
|
||||
self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd])
|
||||
|
||||
@@ -75,35 +74,36 @@ class LateralPlanner:
|
||||
self.LP.lll_prob *= self.DH.lane_change_ll_prob
|
||||
self.LP.rll_prob *= self.DH.lane_change_ll_prob
|
||||
|
||||
# dp - check laneline prob when priority is on
|
||||
use_laneline = False
|
||||
if self.dp_lat_lane_priority_mode:
|
||||
self._update_laneless_laneline_mode()
|
||||
use_laneline = self.dp_lat_lane_priority_mode_active
|
||||
|
||||
# Calculate final driving path and set MPC costs
|
||||
if self.use_lanelines:
|
||||
if use_laneline:
|
||||
d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
|
||||
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
|
||||
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
|
||||
else:
|
||||
d_path_xyz = self.path_xyz
|
||||
path_cost = np.clip(abs(self.path_xyz[0, 1] / self.path_xyz_stds[0, 1]), 0.5, 1.5) * MPC_COST_LAT.PATH
|
||||
# Heading cost is useful at low speed, otherwise end of plan can be off-heading
|
||||
heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15])
|
||||
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE)
|
||||
heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
|
||||
self.lat_mpc.set_weights(path_cost, heading_cost, self.steer_rate_cost)
|
||||
|
||||
y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
|
||||
heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
|
||||
curv_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_curv_rate)
|
||||
self.y_pts = y_pts
|
||||
|
||||
assert len(y_pts) == LAT_MPC_N + 1
|
||||
assert len(heading_pts) == LAT_MPC_N + 1
|
||||
assert len(curv_rate_pts) == LAT_MPC_N + 1
|
||||
lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2))
|
||||
p = np.array([v_ego, lateral_factor])
|
||||
# self.x0[4] = v_ego
|
||||
p = np.array([v_ego, CAR_ROTATION_RADIUS])
|
||||
self.lat_mpc.run(self.x0,
|
||||
p,
|
||||
y_pts,
|
||||
heading_pts,
|
||||
curv_rate_pts)
|
||||
heading_pts)
|
||||
# init state for next
|
||||
# mpc.u_sol is the desired curvature rate given x0 curv state.
|
||||
# with x0[3] = measured_curvature, this would be the actual desired rate.
|
||||
# instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control.
|
||||
self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
|
||||
|
||||
# Check for infeasible MPC solution
|
||||
@@ -127,15 +127,11 @@ class LateralPlanner:
|
||||
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
|
||||
|
||||
lateralPlan = plan_send.lateralPlan
|
||||
lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
|
||||
# rick - deprecated
|
||||
# lateralPlan.laneWidth = float(self.LP.lane_width)
|
||||
lateralPlan.dPathPoints = self.y_pts.tolist()
|
||||
lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
|
||||
|
||||
lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist()
|
||||
lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
|
||||
# rick - deprecated
|
||||
# lateralPlan.lProb = float(self.LP.lll_prob)
|
||||
# lateralPlan.rProb = float(self.LP.rll_prob)
|
||||
# lateralPlan.dProb = float(self.LP.d_prob)
|
||||
@@ -144,8 +140,16 @@ class LateralPlanner:
|
||||
lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
|
||||
|
||||
lateralPlan.desire = self.DH.desire
|
||||
lateralPlan.useLaneLines = False
|
||||
lateralPlan.useLaneLines = self.dp_lat_lane_priority_mode and self.dp_lat_lane_priority_mode_active
|
||||
lateralPlan.laneChangeState = self.DH.lane_change_state
|
||||
lateralPlan.laneChangeDirection = self.DH.lane_change_direction
|
||||
|
||||
pm.send('lateralPlan', plan_send)
|
||||
|
||||
|
||||
def _update_laneless_laneline_mode(self):
|
||||
# decide what mode should we use
|
||||
if (self.LP.lll_prob + self.LP.rll_prob)/2 < 0.3:
|
||||
self.dp_lat_lane_priority_mode_active = False
|
||||
if (self.LP.lll_prob + self.LP.rll_prob)/2 > 0.5:
|
||||
self.dp_lat_lane_priority_mode_active = True
|
||||
+1
-1
@@ -42,7 +42,7 @@
|
||||
#define LONG_NX 3
|
||||
#define LONG_NZ 0
|
||||
#define LONG_NU 1
|
||||
#define LONG_NP 4
|
||||
#define LONG_NP 6
|
||||
#define LONG_NBX 0
|
||||
#define LONG_NBX0 3
|
||||
#define LONG_NBU 0
|
||||
|
||||
BIN
Binary file not shown.
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import numpy as np
|
||||
|
||||
from cereal import log
|
||||
from common.realtime import sec_since_boot
|
||||
from common.numpy_fast import clip, interp
|
||||
from system.swaglog import cloudlog
|
||||
@@ -24,7 +24,7 @@ SOURCES = ['lead0', 'lead1', 'cruise']
|
||||
|
||||
X_DIM = 3
|
||||
U_DIM = 1
|
||||
PARAM_DIM = 4
|
||||
PARAM_DIM = 6
|
||||
COST_E_DIM = 5
|
||||
COST_DIM = COST_E_DIM + 1
|
||||
CONSTR_DIM = 4
|
||||
@@ -45,24 +45,44 @@ ACADOS_SOLVER_TYPE = 'SQP_RTI'
|
||||
# much better convergence of the MPC with low iterations
|
||||
N = 12
|
||||
MAX_T = 10.0
|
||||
T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)]
|
||||
T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N+1) for idx in range(N+1)]
|
||||
|
||||
T_IDXS = np.array(T_IDXS_LST)
|
||||
T_DIFFS = np.diff(T_IDXS, prepend=[0.])
|
||||
MIN_ACCEL = -3.5
|
||||
T_FOLLOW = 1.45
|
||||
# T_FOLLOW = 1.45
|
||||
COMFORT_BRAKE = 2.5
|
||||
STOP_DISTANCE = 6.0
|
||||
|
||||
def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
|
||||
if personality==log.LongitudinalPersonality.relaxed:
|
||||
return 1.0
|
||||
elif personality==log.LongitudinalPersonality.standard:
|
||||
return 1.0
|
||||
elif personality==log.LongitudinalPersonality.aggressive:
|
||||
return 0.5
|
||||
else:
|
||||
raise NotImplementedError("Longitudinal personality not supported")
|
||||
|
||||
|
||||
def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
|
||||
if personality==log.LongitudinalPersonality.relaxed:
|
||||
return 1.75
|
||||
elif personality==log.LongitudinalPersonality.standard:
|
||||
return 1.45
|
||||
elif personality==log.LongitudinalPersonality.aggressive:
|
||||
return 1.25
|
||||
else:
|
||||
raise NotImplementedError("Longitudinal personality not supported")
|
||||
|
||||
def get_stopped_equivalence_factor(v_lead):
|
||||
return (v_lead**2) / (2 * COMFORT_BRAKE)
|
||||
|
||||
def get_safe_obstacle_distance(v_ego):
|
||||
return (v_ego**2) / (2 * COMFORT_BRAKE) + T_FOLLOW * v_ego + STOP_DISTANCE
|
||||
|
||||
def desired_follow_distance(v_ego, v_lead):
|
||||
return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead)
|
||||
def get_safe_obstacle_distance(v_ego, t_follow, stop_distance):
|
||||
return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + stop_distance
|
||||
|
||||
def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW(), stop_distance=STOP_DISTANCE):
|
||||
return get_safe_obstacle_distance(v_ego, t_follow, stop_distance) - get_stopped_equivalence_factor(v_lead)
|
||||
|
||||
def gen_long_model():
|
||||
model = AcadosModel()
|
||||
@@ -89,7 +109,9 @@ def gen_long_model():
|
||||
a_max = SX.sym('a_max')
|
||||
x_obstacle = SX.sym('x_obstacle')
|
||||
prev_a = SX.sym('prev_a')
|
||||
model.p = vertcat(a_min, a_max, x_obstacle, prev_a)
|
||||
lead_t_follow = SX.sym('lead_t_follow')
|
||||
stop_distance = SX.sym('stop_distance')
|
||||
model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, stop_distance)
|
||||
|
||||
# dynamics model
|
||||
f_expl = vertcat(v_ego, a_ego, j_ego)
|
||||
@@ -123,11 +145,13 @@ def gen_long_ocp():
|
||||
a_min, a_max = ocp.model.p[0], ocp.model.p[1]
|
||||
x_obstacle = ocp.model.p[2]
|
||||
prev_a = ocp.model.p[3]
|
||||
lead_t_follow = ocp.model.p[4]
|
||||
stop_distance = ocp.model.p[5]
|
||||
|
||||
ocp.cost.yref = np.zeros((COST_DIM, ))
|
||||
ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
|
||||
|
||||
desired_dist_comfort = get_safe_obstacle_distance(v_ego)
|
||||
desired_dist_comfort = get_safe_obstacle_distance(v_ego, lead_t_follow, stop_distance)
|
||||
|
||||
# The main cost in normal operation is how close you are to the "desired" distance
|
||||
# from an obstacle at every timestep. This obstacle can be a lead car
|
||||
@@ -153,7 +177,7 @@ def gen_long_ocp():
|
||||
|
||||
x0 = np.zeros(X_DIM)
|
||||
ocp.constraints.x0 = x0
|
||||
ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0])
|
||||
ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), STOP_DISTANCE])
|
||||
|
||||
# We put all constraint cost weights to 0 and only set them at runtime
|
||||
cost_weights = np.zeros(CONSTR_DIM)
|
||||
@@ -192,14 +216,11 @@ def gen_long_ocp():
|
||||
class LongitudinalMpc:
|
||||
def __init__(self, e2e=False):
|
||||
self.e2e = e2e
|
||||
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
|
||||
self.reset()
|
||||
self.source = SOURCES[2]
|
||||
|
||||
def reset(self):
|
||||
# self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
|
||||
self.solver.reset()
|
||||
# self.solver.options_set('print_level', 2)
|
||||
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
|
||||
self.v_solution = np.zeros(N+1)
|
||||
self.a_solution = np.zeros(N+1)
|
||||
self.prev_a = np.array(self.a_solution)
|
||||
@@ -231,6 +252,8 @@ class LongitudinalMpc:
|
||||
self.params[:,0] = -10.
|
||||
self.params[:,1] = 10.
|
||||
self.params[:,2] = 1e5
|
||||
self.params[:,4] = get_T_FOLLOW()
|
||||
self.params[:,5] = STOP_DISTANCE
|
||||
else:
|
||||
self.set_weights_for_lead_policy(prev_accel_constraint)
|
||||
|
||||
@@ -251,7 +274,7 @@ class LongitudinalMpc:
|
||||
self.solver.cost_set(i, 'Zl', Zl)
|
||||
|
||||
def set_weights_for_xva_policy(self):
|
||||
W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1]))
|
||||
W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.]))
|
||||
for i in range(N):
|
||||
self.solver.cost_set(i, 'W', W)
|
||||
# Setting the slice without the copy make the array not contiguous,
|
||||
@@ -306,7 +329,8 @@ class LongitudinalMpc:
|
||||
self.cruise_min_a = min_a
|
||||
self.cruise_max_a = max_a
|
||||
|
||||
def update(self, carstate, radarstate, v_cruise):
|
||||
def update(self, carstate, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard, stop_distance=STOP_DISTANCE):
|
||||
t_follow = get_T_FOLLOW(personality)
|
||||
v_ego = self.x0[1]
|
||||
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
|
||||
|
||||
@@ -330,26 +354,23 @@ class LongitudinalMpc:
|
||||
v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
|
||||
v_lower,
|
||||
v_upper)
|
||||
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped)
|
||||
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow, stop_distance)
|
||||
|
||||
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
|
||||
self.source = SOURCES[np.argmin(x_obstacles[0])]
|
||||
self.params[:,2] = np.min(x_obstacles, axis=1)
|
||||
self.params[:,3] = np.copy(self.prev_a)
|
||||
self.params[:,4] = t_follow
|
||||
self.params[:,5] = stop_distance
|
||||
|
||||
self.run()
|
||||
if (np.any(lead_xv_0[:,0] - self.x_sol[:,0] < CRASH_DISTANCE) and
|
||||
radarstate.leadOne.modelProb > 0.9):
|
||||
radarstate.leadOne.modelProb > 0.9):
|
||||
self.crash_cnt += 1
|
||||
else:
|
||||
self.crash_cnt = 0
|
||||
|
||||
def update_with_xva(self, x, v, a):
|
||||
# v, and a are in local frame, but x is wrt the x[0] position
|
||||
# In >90degree turns, x goes to 0 (and may even be -ve)
|
||||
# So, we use integral(v) + x[0] to obtain the forward-distance
|
||||
xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
|
||||
x = np.cumsum(np.insert(xforward, 0, x[0]))
|
||||
self.yref[:,1] = x
|
||||
self.yref[:,2] = v
|
||||
self.yref[:,3] = a
|
||||
@@ -360,8 +381,6 @@ class LongitudinalMpc:
|
||||
self.run()
|
||||
|
||||
def run(self):
|
||||
# t0 = sec_since_boot()
|
||||
# reset = 0
|
||||
for i in range(N+1):
|
||||
self.solver.set(i, 'p', self.params[i])
|
||||
self.solver.constraints_set(0, "lbx", self.x0)
|
||||
@@ -396,11 +415,9 @@ class LongitudinalMpc:
|
||||
self.last_cloudlog_t = t
|
||||
cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
|
||||
self.reset()
|
||||
# reset = 1
|
||||
# print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
ocp = gen_long_ocp()
|
||||
AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
|
||||
# AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
|
||||
# AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
|
||||
Executable → Regular
+25
-18
@@ -1,25 +1,17 @@
|
||||
'''
|
||||
This is the longitudinal_planner from 0.8.16
|
||||
|
||||
reason I keep this as a separate file is that Nuclear Grade model released during 0.8.15 / 0.8.16.
|
||||
So it could handle better with old planners.
|
||||
|
||||
Note 1: This may not work in newer version.
|
||||
|
||||
Note 2: **This planner does not support Experimental Mode**
|
||||
|
||||
'''
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
import numpy as np
|
||||
from common.numpy_fast import interp
|
||||
from common.params import Params
|
||||
from cereal import log
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from common.conversions import Conversions as CV
|
||||
from common.filter_simple import FirstOrderFilter
|
||||
from common.realtime import DT_MDL
|
||||
from selfdrive.legacy_modeld.constants import T_IDXS
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import LongitudinalMpc
|
||||
from selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import LongitudinalMpc, STOP_DISTANCE
|
||||
from selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
|
||||
from system.swaglog import cloudlog
|
||||
@@ -45,8 +37,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
this should avoid accelerating when losing the target in turns
|
||||
"""
|
||||
|
||||
# FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
|
||||
# The lookup table for turns should also be updated if we do this
|
||||
a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
|
||||
a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
|
||||
a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
|
||||
@@ -68,19 +58,34 @@ class LongitudinalPlanner:
|
||||
self.a_desired_trajectory = np.zeros(CONTROL_N)
|
||||
self.j_desired_trajectory = np.zeros(CONTROL_N)
|
||||
self.solverExecutionTime = 0.0
|
||||
self.params = Params()
|
||||
self.param_read_counter = 0
|
||||
self.read_param()
|
||||
self.personality = log.LongitudinalPersonality.standard
|
||||
|
||||
def read_param(self):
|
||||
param_value = self.params.get('LongitudinalPersonality')
|
||||
if param_value is not None:
|
||||
self.personality = int(param_value)
|
||||
else:
|
||||
self.personality = log.LongitudinalPersonality.standard
|
||||
|
||||
def update(self, sm):
|
||||
if self.param_read_counter % 50 == 0:
|
||||
self.read_param()
|
||||
self.param_read_counter += 1
|
||||
v_ego = sm['carState'].vEgo
|
||||
|
||||
v_cruise_kph = sm['controlsState'].vCruise
|
||||
v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
|
||||
v_cruise = v_cruise_kph * CV.KPH_TO_MS
|
||||
|
||||
long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
|
||||
long_control_state = sm['controlsState'].longControlState
|
||||
force_slow_decel = sm['controlsState'].forceDecel
|
||||
|
||||
# Reset current state when not engaged, or user is controlling the speed
|
||||
reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
|
||||
reset_state = long_control_state == LongCtrlState.off
|
||||
reset_state = reset_state or sm['carState'].gasPressed
|
||||
|
||||
# No change cost when user is controlling the speed, or when standstill
|
||||
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
|
||||
@@ -105,7 +110,8 @@ class LongitudinalPlanner:
|
||||
self.mpc.set_weights(prev_accel_constraint)
|
||||
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
self.mpc.update(sm['carState'], sm['radarState'], v_cruise)
|
||||
stop_distance = STOP_DISTANCE if not self.CP.radarUnavailable else interp(sm['carState'].vEgo, [0., 2.78, 5.55, 22.], [3.7, 4., 5, STOP_DISTANCE])
|
||||
self.mpc.update(sm['carState'], sm['radarState'], v_cruise, personality=self.personality, stop_distance=stop_distance)
|
||||
|
||||
self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
|
||||
@@ -139,5 +145,6 @@ class LongitudinalPlanner:
|
||||
longitudinalPlan.fcw = self.fcw
|
||||
|
||||
longitudinalPlan.solverExecutionTime = self.mpc.solve_time
|
||||
longitudinalPlan.personality = self.personality
|
||||
|
||||
pm.send('longitudinalPlan', plan_send)
|
||||
|
||||
@@ -3,7 +3,7 @@ from common.numpy_fast import clip, interp
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
|
||||
from selfdrive.controls.lib.pid import PIDController
|
||||
from selfdrive.legacy_modeld.constants import T_IDXS
|
||||
from selfdrive.hybrid_modeld.constants import T_IDXS
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user