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dragonpilot 2023-03-27T06:11:06 for EON/C2

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version: dragonpilot v0.9.2 beta for EON/C2
date: 2023-03-27T06:11:06
dp-dev(priv2) master commit: 0a08aa2b73a505e11e4c98ac6c5989464b7d339f
This commit is contained in:
Dragonpilot Team
2023-03-25 08:58:31 +00:00
committed by Comma Device
parent f770882b7f
commit ea800c8f74
452 changed files with 22242 additions and 10694 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+5 -4
View File
@@ -44,9 +44,6 @@ selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
system/camerad/camerad
system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
@@ -64,7 +61,7 @@ panda_jungle
provisioning
.coverage*
coverage.xml
coverage.xmlcar
htmlcov
pandaextra
@@ -85,3 +82,7 @@ build/
poetry.toml
selfdrive/ui/_ui_nonav
*events.po~
selfdrive/loggerd/bootlog
selfdrive/loggerd/loggerd
selfdrive/proclogd/proclogd
CHANGELOGS.md
+26 -111
View File
@@ -1,95 +1,34 @@
dragonpilot [Latest] - EON/C2 Release
========================
dragonpilot [2023.2.15]
=======================
* Synced with openpilot master 2022.12.14 commits.
* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
* NEW: Lateral Controller Selector
* Ability to select between DEFAULT / PID / LQR / Torque Controller.
* NEW: Redesigned UI to match Comma's new UI/UX style.
* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
* Comma 0.9.1 release
* New driving model
* 30% improved height estimation resulting in better driving performance for tall cars
* UI updates
* Adjust alert volume using ambient noise level
* Driver monitoring icon shows driver's head pose
* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
* FIXED: Bugs in updated.
* FIXED: Issue in C2 fan control.
* TWEAK: Bug fixes and improvement.
* NEW: Block ALC if it's close to the road edges.
* NEW: Rinbow path toggle. (This effect is purely cosmetic)
* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
* Bug fixes and improvement.
dragonpilot 2022.11.09 - EON/C2 Release
========================
* Synced with openpilot master 2022.10.26 commits.
* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
* Ability to use MapD without internet connection.
* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
* NEW: MAZDA - Toggle to bypass dashcam mode.
* NEW: Added lanelines mode.
* Ability to adjust camera/path offset.
* NEW: Lateral Planner option.
* Ability to select 0.8.13, 0.8.16 and the latest/current planner.
* NEW: Offline OSM map database.
* NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
* TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
* FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
* bug fix and improvement.
dragonpilot [2023.1.10]
=======================
* Synced with openpilot master 2023.1.3 commits.
* IMPROVEMENT: Dynamic end to end refactored. It will automatically turn on and off for red light for smoother u/x. Now Supports (honda and vw that cab take advantage of VOACC).
* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
* ADDED: support for Chevrolet Trailblazer 2022 (Thanks @TurboCE)
* ADDED: support for Honda odyssey hybrid 2022 China (Thanks @lijunhao731)
* ADDED: GPS accuracy on the sidebar.
* Bug fixes and improvement.
HOTFIX:
=======================
* Allow Experimental Mode in release branch. (@Stupefacient)
* Happy Holiday / New Years! Safe Travel, cya in 2023!
dragonpilot 2022.10.17 - EON/C2 Release
========================
* Synced with openpilot master 2022.09.22 commits.
* Live Torque Tune (Only available to certain vehicle models with op long.)
* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
* NEW: VAG - Added auto resume fix toggle.
* NEW: refactored dynamic follow. support all car with op long.
* NEW: New blinker and BSM indicators.
* NEW: Lead Info is now displaying both speed and distance.
* FIXED: Minor bug fixes and improvement.
dragonpilot 2022.09.22 - EON/C2 Release
========================
* Synced with openpilot master 2022.09.17 commits.
* e2e longitudinal toggle. (Extremely alpha feature)
* Deprecated SNPE lib and switched to tinygrad.
* NEW: Added back nav support on EON/C2.
* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
* WIP: Dynamic Follow has been temporary removed for refactoring.
* WIP: Vision Turn Control has been temporary removed for refactoring.
* REMOVED: Camera offset has been removed permanently due to new e2e implementation.
* EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
dragonpilot 2022.08.29 - EON/C2 Release
========================
* NEW: Synced to openpilot master 2022.08.23 commits.
* New driving model.
* NEW: Added back honda eps mod toggle.
* NEW: Added back camera offset toggle.
* TWEAK: Resume logic to adapt ATL mode.
dragonpilot 2022.08.17 - EON/C2 Release
========================
* NEW: Synced to openpilot master 2022.08.07 commits.
* NEW: Added back auto shutdown toggle.
* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
* NEW: Added back LQR tune toggle.
* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
* NEW: Included all vehicles.
* TWEAK: Panda Recovery should kill boardd process first.
* FIXED: Fixed stop working issue when mapd crashed.
dragonpilot 2022.07.29 - EON/C2 Release
========================
* NEW: Synced to openpilot 2022.07.27 commits.
* NEW: Included Mazda vehicles.
* TWEAK: Only show road name bar when it's not empty.
* TWEAK: Enlarged lead car distance text.
* TWEAK: TOYOTA - Updated lowest speed override feature.
* FIXED: Fixed Panda Flash/Recovery buttons.
* FIXED: Included dp_patcher.py execution.
dragonpilot [latest]
dragonpilot 2022.12.13
=======================
* Synced with openpilot master 2022.12.13 commits.
* COMMA: New model, Toyota users can now configure SWAY settings.
@@ -217,30 +156,6 @@ TWEAK: TOYOTA - Updated lowest speed override feature.
FIXED: Fixed Panda Flash/Recovery buttons.
FIXED: Included dp_patcher.py execution.
dragonpilot 2022.07.20 - EON/C2 Release
========================
* FIXED: Included correct camera/path offset values for EON/C2.
* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
* FIXED: Included fan controller for UNO (C2).
* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
* TWEAK: Removed sounds unavailable warning.
* TWEAK: Removed unused loggers.
* TWEAK: Disabled IR controls completely.
dragonpilot 2022.07.14 - EON/C2 Release
========================
* FIXED: DM bug.
* FIXED: white / grey panda support.
* FIXED: Removed No GPS signal warning.
dragonpilot 2022.07.12 - EON/C2 Release
========================
* Synced up with dragonpilot 2022.06.25 C3 release
* Running on latest AI model.
* Steering monitor only.
* Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
* Buggy!
dragonpilot [2022.08.07]
========================
* Synced to openpilot master 2022.08.07 commits.
CHANGELOGS_c2.md
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@@ -0,0 +1,965 @@
dragonpilot [Latest] - EON/C2 Release
========================
* Synced with openpilot master 2023.03.08 commits.
* DP Highlight
* Refactored cameraview widget.
* Updated VisionIPC to match current version.
* Rainbow mode. (fancy lol)
* Different color when Always On Lateral is enabled.
* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
* NEW: Alternative Lateral Controller
* Ability to switch to another lateral controller when SET speed is higher than configure speed.
* E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.
* DM reverted back to 0.8.13 model and algorithm.
dragonpilot 2023.02.08 - EON/C2 Release
========================
* Synced with openpilot master 2022.12.14 commits.
* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
* NEW: Lateral Controller Selector
* Ability to select between DEFAULT / PID / LQR / Torque Controller.
* NEW: Redesigned UI to match Comma's new UI/UX style.
* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
* FIXED: Bugs in updated.
* FIXED: Issue in C2 fan control.
* TWEAK: Bug fixes and improvement.
dragonpilot 2022.11.09 - EON/C2 Release
========================
* Synced with openpilot master 2022.10.26 commits.
* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
* Ability to use MapD without internet connection.
* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
* NEW: MAZDA - Toggle to bypass dashcam mode.
* NEW: Added lanelines mode.
* Ability to adjust camera/path offset.
* NEW: Lateral Planner option.
* Ability to select 0.8.13, 0.8.16 and the latest/current planner.
* NEW: Offline OSM map database.
* NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
* TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
* FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
* bug fix and improvement.
dragonpilot 2022.10.17 - EON/C2 Release
========================
* Synced with openpilot master 2022.09.22 commits.
* Live Torque Tune (Only available to certain vehicle models with op long.)
* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
* NEW: VAG - Added auto resume fix toggle.
* NEW: refactored dynamic follow. support all car with op long.
* NEW: New blinker and BSM indicators.
* NEW: Lead Info is now displaying both speed and distance.
* FIXED: Minor bug fixes and improvement.
dragonpilot 2022.09.22 - EON/C2 Release
========================
* Synced with openpilot master 2022.09.17 commits.
* e2e longitudinal toggle. (Extremely alpha feature)
* Deprecated SNPE lib and switched to tinygrad.
* NEW: Added back nav support on EON/C2.
* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
* WIP: Dynamic Follow has been temporary removed for refactoring.
* WIP: Vision Turn Control has been temporary removed for refactoring.
* REMOVED: Camera offset has been removed permanently due to new e2e implementation.
* EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
dragonpilot 2022.08.29 - EON/C2 Release
========================
* NEW: Synced to openpilot master 2022.08.23 commits.
* New driving model.
* NEW: Added back honda eps mod toggle.
* NEW: Added back camera offset toggle.
* TWEAK: Resume logic to adapt ATL mode.
dragonpilot 2022.08.17 - EON/C2 Release
========================
* NEW: Synced to openpilot master 2022.08.07 commits.
* NEW: Added back auto shutdown toggle.
* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
* NEW: Added back LQR tune toggle.
* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
* NEW: Included all vehicles.
* TWEAK: Panda Recovery should kill boardd process first.
* FIXED: Fixed stop working issue when mapd crashed.
dragonpilot 2022.07.29 - EON/C2 Release
========================
* NEW: Synced to openpilot 2022.07.27 commits.
* NEW: Included Mazda vehicles.
* TWEAK: Only show road name bar when it's not empty.
* TWEAK: Enlarged lead car distance text.
* TWEAK: TOYOTA - Updated lowest speed override feature.
* FIXED: Fixed Panda Flash/Recovery buttons.
* FIXED: Included dp_patcher.py execution.
dragonpilot 2022.07.20 - EON/C2 Release
========================
* FIXED: Included correct camera/path offset values for EON/C2.
* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
* FIXED: Included fan controller for UNO (C2).
* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
* TWEAK: Removed sounds unavailable warning.
* TWEAK: Removed unused loggers.
* TWEAK: Disabled IR controls completely.
dragonpilot 2022.07.14 - EON/C2 Release
========================
* FIXED: DM bug.
* FIXED: white / grey panda support.
* FIXED: Removed No GPS signal warning.
dragonpilot 2022.07.12 - EON/C2 Release
========================
* Synced up with dragonpilot 2022.06.25 C3 release
* Running on latest AI model.
* Steering monitor only.
* Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
* Buggy!
dragonpilot 2022.07.01
========================
* Synced with openpilot master 2022.06.29 commits.
* ADDED: MapD based off @move-fast. Thanks to @sunnyhaibin for mapbox as datapoint and ui refactor. (setting destination will use mapxbox speedlimit data which is more accurate. MapD priority: Mapbox(if nav active), OSM, RSA )
dragonpilot 2022.06.25
========================
* Synced with openpilot master 2022.06.25 commits.
* Updated zh-TW translation.
* ADDED: Dynamid follow @krkeegan version. (press the distance button)
* ADDED: dp ui vol.
* ADDED: dp ui brightness.
* ADDED: dp ui top/side bar.
* ADDED: dp display mode (0=off/normal, 1=turn off the screen when onroad).
dragonpilot 2022.06.16
========================
* Synced with openpilot master 2022.06.16 commits.
* ADDED: Toyota SnG hack.
* ADDED: Accel Profile.
* FIXED: Car Selection.
* FLXED: ALCA Delay Setting UI.
* FIXED: Lane lines mode (w/ DLP built-in).
dragonpilot 2022.06.11
========================
* Synced with openpilot master 2022.06.07 commits
* Migrating more features soon, stay tuned!
dragonpilot 0.8.13-1
========================
* Based on openpilot 0.8.13 devel.
* ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212)
* FIXED: DLP fix. (Thank to @Hikari1023)
* Bug fixes.
dragonpilot 0.8.12-3
========================
* Bug fixes.
* ADDED: Car Selector for C3.
* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi)
* TUNNING: Toyota long improvement.
* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2).
dragonpilot 0.8.12-2
========================
* Bug fixes.
* ADDED: FTP to easily manage storage.
* Readded: camera offset, path offset and autoshutdown.
dragonpilot 0.8.12-1
========================
* Based on openpilot 0.8.12 devel.
* ADDED: Support for no gps (mr.one panda).
* Reimplement: camera offset, path offset, nav for c2 and autoshutdown.
dragonpilot 0.8.10-4
========================
* FIXED: Allow gas press. (Thanks to @loveloveses)
* FIXED: Honda SnG. (Thanks to @loveloveses
* ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan)
dragonpilot 0.8.10-3
========================
* NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses)
dragonpilot 0.8.10
========================
* Based on openpilot 0.8.10 devel.
* Reimplement: Following Distance.
* Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot)
* NAV: Added use of Navigation tab to access home/work/recent dest.
* NAV: Added auto Day/Night Mode.
* NAV: Added customizable style.
* NAV: Added Gaode/amap Search. (Thanks to @loveloveses)
* FIXED: Device w/ battery no longer need to set auto shutdown to 1 min.
* FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin)
* REMOVED: Timebomb feature for VW.
* REMOVED: Support of running Android apps.
dragonpilot 0.8.9-3
========================
* Bug fixes.
* Fixed up auto updater.
* Fixed Honda Jade dbc. (Thanks to @lijunhao731)
* ADDED: 0.8.10 model.
* ADDED: Nav for all device.
* ADDED: Support for Nvidia Xavier.
dragonpilot 0.8.9-2
========================
* Bug fixes.
* Refactor UI related changes.
* Updated Simplified Chinese translation. (Thanks to @CCZ)
* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error.
* Re-tuned acceleraton profile. (Thank to @wer5lcy)
* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921)
dragonpilot 0.8.9-1
========================
* Based on openpilot 0.8.8 devel.
* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s).
* ADDED: New softer sound for c3.
* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin)
* Bug Fixes.
dragonpilot 0.8.8-2
========================
* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast)
* ADDED: Street name on the bottom bar.
* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX.
* ADDED: Smoother tune for PRIUS_TSS2.
* Bug fixes.
dragonpilot 0.8.8-1
========================
** BETA TESTING ONLY **
* Based on openpilot 0.8.8 devel.
* FIXED: dashcam issue.
* FIXED: some VW vehicles issue. (Thanks to @yayism)
* FIXED: white panda + j533 acc issue. (Thanks to @lirudy)
* ADDED: Auto fake black panda.
* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen)
* WIP: mapd.
dragonpilot 0.8.7-4
========================
* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731)
* Fixed toyota / honda brake light display. (Thanks to @loveloveses)
* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻)
* Fixed VW resume/display issue. (Thanks to @SKY)
* Fixed CJK font installation issue.
dragonpilot 0.8.7-3
========================
* Bug fixes.
* Fixed gpxd.
* Added some Chinese support.
dragonpilot 0.8.7-2
========================
* Fixed sound issue.
* Changed gpx logs to OSM compatible format.
* HONDA: Added BSM support for CRV-Hybrid.
* HONDA: Added toggle to force displaying km/h in HUD.
* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature.
dragonpilot 0.8.7-1
========================
* Based on openpilot 0.8.7 devel.
* Support 1+3t / C2 / Jetson Xavier NX.
* Support White / Grey Panda.
* TOYOTA: Can now change Following Modes with physical button from the steering wheel.
* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it.
* TOYOTA: Added Low speed override toggles.
* Dev UI now displays RPM reading.
* Added Prebuilt toggle for faster boot.
* Lexus RX high RPM fix. (Thanks to @crazysim).
* Added toggle to launch Language settings.
* Added toggle to launch Volume settings.
* Added toggle to launch date/time settings.
* Added toggle to flash panda.
* Added toggle to recover panda firmware.
* Added toggle to delete logging (/sdcard/realdata).
* Added GPS Logger.
dragonpilot 0.8.6-1
========================
* Based on openpilot 0.8.6 devel.
* Support 1+3t / C2 / Jetson Xavier NX.
* Support White / Grey Panda.
dragonpilot 0.8.5-4
========================
* Added multiple toggles.
* Code clean up.
* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
* Better support for VW MPQ (Thanks to @Saber)
dragonpilot 0.8.5-3
========================
* Added Jetson support toggle.
* Added Steering Ratio controller.
* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
* Bug fixes.
dragonpilot 0.8.5-2
========================
* Added black panda simulation toggle.
* Added No GPS toggle.
* Added No Battery Toggle.
* Bug fixes.
dragonpilot 0.8.5-1
========================
* Based on openpilot 0.8.5 devel.
* 基於 openpilot 0.8.5 devel.
* Support 1+3t / C2 / Jetson Xavier NX.
* 支持 1+3t / C2 / Jetson Xavier NX.
* No White/Grey Panda Support.
* 不支持白灰熊.
dragonpilot 0.8.4-3
========================
* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
* 加回舊 ssh 登錄.
* Good old ssh key.
* 修復本田錯誤. (感謝 @loveloveses)
* Fixed Honda bug. (Thanks to @loveloveses)
dragonpilot 0.8.4-2
========================
* 加回可調整加速/跟車設定.
* Added back Accel/Following Profile.
* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
* 支持 1+3t (需額外安裝手續)
* Support 1+3t (Require additional install procedure)
* 支持白/灰熊
* Support White/Grey Panda.
dragonpilot 0.8.4-1
========================
* 基於 openpilot 0.8.4 devel.
* Based on openpilot 0.8.4 devel.
dragonpilot 0.8.1
========================
* 基於最新 openpilot 0.8.1 devel.
* Based on latest openpilot 0.8.1 devel.
* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
* Added REC screen button. (Thanks to @toyboxZ)
dragonpilot 0.8.0
========================
* 基於最新 openpilot 0.8.0 devel.
* Based on latest openpilot 0.8.0 devel.
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
* Added git error fix. (Thanks to @toyboxZ)
dragonpilot 0.7.10.1
========================
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
* Use openpilot v0.8 model. (Thanks to @eisenheim)
* 加入 0.8 測試版的部分優化。
* Added optimizations from pre-0.8.
* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
dragonpilot 0.7.10.0
========================
* 基於最新 openpilot 0.7.10 devel.
* Based on latest openpilot 0.7.10 devel.
* 修正 Prius 特定情況下無法操控方向盤的問題。
* Fixed unable to regain Prius steering control under certain condition.
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
* Updated support of VW MQB. (scripts/vw.sh script required)
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
* 優化 nanovg。(感謝 @piggy 提供)
* Optomized nanovg. (Thanks to @piggy)
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
* Added complete_setup.sh (Thanks to @深鲸希西)
* Based on latest openpilot 0.7.10 devel.
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
dragonpilot 0.7.8.3
========================
* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
dragonpilot 0.7.8.2
========================
* 修正在沒網路的情況下，開機超過五分鐘的問題。
* Fixed 5+ minutes boot time issue when there is no internet connection.
* 錯誤回傳改使用 dp 的主機。
* Used dp server for error reporting.
* 更新服務改使用 gitee 的 IP 檢查連線狀態。
* updated service uses gitee IP address instead.
dragonpilot 0.7.8.1
========================
* 加入 ko-KR 翻譯。
* Added ko-KR translation.
* 加入 Honda Jade 支援。(感謝 @李俊灝)
* Added Honda Jade support. (Thanks to @lijunhao731)
* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
* gpxd 記錄改自動存成 zip 格式。
* gpxd now store in zip format.
* 強制關閉 panda 檢查 DOS 硬體。
* Force disabled DOS hardware check in panda.
dragonpilot 0.7.8.0
========================
* 基於最新 openpilot 0.7.8 devel.
* Based on latest openpilot 0.7.8 devel.
* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
* 將警示訊息更改為類似於概念 UI 的設計。
* Alert messages changed to concept UI alike design.
* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
dragonpilot 0.7.7.3
========================
* 修正方向盤監控。
* Fixed steering monitor timer param.
* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
* Re-added Dev Mini UI. (Thanks to @Ninjaa)
* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
* 使用德國的車道寬度估算值。 （感謝 @arne182）
* Used lane width estimate value from Germany. (Thanks to @arne182)
dragonpilot 0.7.7.2
========================
* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
* Added d_poly offset. (Thanks to @ShaneSmiskol)
* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
* 加入 LQR 控制器開關進設定畫面。
* Added LQR Controller toggle to settings.
dragonpilot 0.7.7.1
========================
* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
* Added C2 quiet fan mode. (Thanks to @dingliangxue)
* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
* 加入回調校介面。(感謝 @Kent)
* Re-added Dev UI. (Thanks to @Kent)
* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
dragonpilot 0.7.7.0
========================
* 基於最新 openpilot 0.7.7 devel.
* Based on latest openpilot 0.7.7 devel.
* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
* When Manager failed, display IP address. (Thanks to @dingliangxue)
* 加回 sr learner 開關。
* Re-added sr learner toggle.
* 加回 加速模式 開關。
* Re-added Accel Profile toggle.
* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
* 介面加入盲點偵測顯示。(感謝 @wabes)
* Added BSM indicator to UI. (Thanks to @wabes)
* 加回彎道減速功能。(感謝 @Mojo)
* re-added Slow On Curve functionality. (Thanks to @Mojo)
dragonpilot 0.7.6.2
========================
* 修正無法正確關閉駕駛監控的問題。
* Fixed unable to properly turn off driver monitor issue.
dragonpilot 0.7.6.1
========================
* 基於最新 openpilot 0.7.6.1 devel.
* Based on latest openpilot 0.7.6.1 devel.
* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
* 完全關閉 steer ratio learner。
* Completely disabled steer ratio learner.
* 移除「加速模式」。
* Removed Accel Profile.
* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
dragonpilot 0.7.5.4
========================
* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
dragonpilot 0.7.5.3
========================
* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
* 將剎車狀熊顯示於 dp 資訊欄。
* Added brake indicator to dp infobar.
* 修正「溫度監控」燈示。
* Fixed "Temp monitor" indicator.
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
dragonpilot 0.7.5.2
========================
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
* Updated to stop charging after 3 hrs. (Thanks to @Wei)
* 移除行車記錄下的「碰撞偵測」功能。
* Removed Impact Detection in Dashcam.
* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
* Fixed alert issue in waze mode. (Thanks to @axandres)
* 修正無法顯示更新中圖示的問題。
* Fixed unable to display "UPDATING" icon issue.
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
dragonpilot 0.7.5.1
========================
* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
* 更新 appd 使用 cnpmjs 來下載 APKs。
* Updated appd to use cnpmjs to download APKs.
* 修正更新服務。(感謝 @Wei)
* Fixed Update Service. (Thanks to @Wei)
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
* 新增「通過移動網路上傳」開關
* Added Upload Over Mobile Network toggle.
* 新增「通過熱點上傳」開關
* Added Upload Over Hotspot toggle.
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
dragonpilot 0.7.5.0
========================
* 基於最新 openpilot 0.7.5 devel-staging.
* Based on latest openpilot 0.7.5 devel-staging.
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
* Updated dp logo, special thanks to @wabes for the design.
* 簡/繁中文版和 i18n 整合成為單一版本。
* Merged zhs/zht/i18n versions into one.
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
* 新增行駛時關閉畫面功能。
* Added Screen off while driving feature.
* 新增倒車時關閉畫面功能。
* Added Screen off while reversing feature.
* 新增駕駛介面加入「加速模式」切換鈕。
* Added acceleration profile toggle onto driving UI.
* 新增自定車型功能，取代指紋暫存功能。
* Replaced fingerprint cache with custom car model selector.
* 新增可調亮度。
* Added Brightness changer.
* 新增部分德語支持。(特別感謝 @arne182 提供)
* Added partial de_DE language support (Thanks to @arne182)
* 新增停車碰撞偵測記錄功能。
* Added off road impact detection to dashcam.
2020-05-06
========================
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
* 中文版整合進 i18n 版。
* 刪除指紋暫存功能。
* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
* 新增行駛時關閉畫面功能。
* 新增倒車時關閉畫面功能。
* 新增駕駛介面加入「加速模式」切換鈕。
* 新增自定義車型。
2020-04-16
========================
* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
2020-04-13
========================
* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
2020-04-10
========================
* [DEVEL] 更新 panda 至最新的 comma:master 分支。
* [DEVEL] 移除所有的第三方應用改為自動下載。
* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
2020-03-31
========================
* [DEVEL] 更新至 2020-03-31 testing 分支。
2020-03-27
========================
* [DEVEL] 更新至最新的 testing 分支:
* 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
* 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
* 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
* 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
* 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
* 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
* 加入韓文支持。(感謝 crwusiz 提供)
* 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
2020-03-22
========================
* [DEVEL] 更新至最新的 testing 分支。
2020-03-17
========================
* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
2020-03-14
========================
* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
* [DEVEL] 調高 Toyota 扭力容錯值。
* [DEVEL] 優化讀取 dp 設定值。
* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
* [DEVEL] dp 功能加入對 Subaru 車系的支援。
2020-03-06
========================
* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
* [DEVEL] 建立 devel-i18n 取代 devel-en。
* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
2020-03-04
========================
* [DEVEL] 加入顯示駕駛監控畫面。
* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
2020-02-25
========================
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
2020-02-21
========================
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
2020-02-14
========================
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
* [DEVEL] 修正錯誤。
2020-02-08
========================
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
* [DEVEL] 加入神盾測速照相自動啟動的開關。
* [DEVEL] 更新高德地圖至 v4.5.0.600053。
* [DEVEL] 使用 0.6.6 版的更新系統。
* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
2020-01-31
========================
* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
2020-01-29
========================
* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
2020-01-23
========================
* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
* [DEVEL] 優化 appd。
2020-01-19
========================
* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
* [DEVEL] 調整 appd 和 ALC 邏輯。
2020-01-14
========================
* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
2020-01-08
========================
* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
2019-12-31
========================
* [DEVEL-ZHS] 加回第三方應用。
2019-12-29
========================
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
2019-12-18
========================
* [DEVEL] 修正自動換道邏輯。
* [DEVEL] 更新 offroad 翻譯。
* [DEVEL] 錯誤修正。
* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
2019-12-17
========================
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
2019-12-10
========================
* [DEVEL] 加入位智車機模式。 (Waze Mode)
2019-11-21
========================
* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
* [DEVEL] 調整前車靜止移動偵測參數。
* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
2019-11-18
========================
* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
2019-11-18
========================
* [DEVEL] 修正 frame 翻譯。
2019-11-15
========================
* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
2019-11-15
========================
* [DEVEL] 修正充電控制。 (感謝 KT 反應)
* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
2019-11-12
========================
* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
2019-11-12
========================
* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
2019-11-11
========================
* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
* [DEVEL] 更新 MiXplorer 至 v6.40.3
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
* [DEVEL] 前車靜止移動偵測加入偵測警示。
2019-11-07
========================
* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
2019-11-06
========================
* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
2019-11-05
========================
* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
2019-11-01
========================
* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
2019-11-01
========================
* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
* [DEVEL] 更新 offroad 為多語言版
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
2019-10-29
========================
* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
2019-10-28
========================
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
2019-10-18
========================
* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
* [DEVEL] 修正 allow_gas 功能。
2019-10-18
========================
* [DEVEL] 加入彎道減速功能開關。
* [DEVEL] 強迫使用 dp 版 Panda 韌體。
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
2019-10-17
========================
* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
* [DEVEL] 修正充電控制讀取預設值的錯誤。
* [DEVEL] 修正無法顯示更新記錄的錯誤。
2019-10-16
========================
* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
* [DEVEL] 更新高德地圖至 v4.3.0
* [DEVEL] 刪除 bs (Branch Switcher)
2019-10-14
========================
* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
* [DEVEL] 清除不再使用的 dp params。
* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
* [DEVEL] 加入刷新 Panda 韌體按鈕。
2019-10-11
========================
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
2019-10-09
========================
* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
2019-10-08
========================
* [DEVEL] 加回駕駛監控開關。
* [DEVEL] 加入 bs (branch switcher) 程式。
2019-10-07
========================
* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
2019-10-05
========================
* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
2019-09-30
========================
* [DEVEL] 更新 curvature learner 版本至 v4。
* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
2019-09-27
========================
* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
* [DEVEL] 加入可開關駕駛監控的程式碼。
* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
2019-09-26
========================
* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
2019-09-24
========================
* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
2019-09-23
========================
* [DEVEL] 優化讀取 params 的次數。
* [DEVEL] 加入可開關的車道偏移警示。
* [DEVEL] 修正充電控制邏輯。
* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
2019-09-20
========================
* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
2019-09-16
========================
* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
2019-09-13
========================
* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
2019-09-09
========================
* [DEVEL] 加入 GreyPanda 模式。
2019-08-28
========================
* [DEVEL] 加入可調警示音量。
2019-08-27
========================
* [DEVEL] 自動關機改為可調時長。
README.md
+12 -3
View File
@@ -1,3 +1,15 @@
LIMITATION
------
* CAN-FD vehicles WILL NOT WORK: this is due to the library in EON/C2 is old and cannot build red panda firmware.
* Body WILL NOT WORK: again this is due to the library in EON/C2 cannot build its firmware.
* AI Model REMAINS IN 0.8.16: Too much effort to port tinygrad/pyopencl onto EON/C2, still investigating workarounds.
* NOO (Navigation On Openpilot) WILL NOT WORK: NOO requires newer driving model to work with nav model, until we resolved the last statement.
* Logger WILL NOT WORK: It's running at near full capacity with the 0.8.16 driving model, Logger will cause performance/thermal issue.
** In short, consider it as openpilot 0.8.16 version PLUS latest vehicle model support from openpilot master branch.**
** THE BUILD IS VERY DIRTY, for porting/logging purpose we suggest using [openpilot mastertwo branch](https://github.com/commaai/openpilot/tree/commatwo_master).**
![](https://i.imgur.com/b0ZyIx5.jpg)
Table of Contents
@@ -143,7 +155,4 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
RELEASES.md
+20 -3
View File
@@ -1,11 +1,28 @@
Version 0.9.1 (2022-12-XX)
Version 0.9.2 (2023-03-XX)
========================
* Adjust alert volume using ambient noise level
* Removed driver monitoring timer resetting on interaction if face detected and distracted
* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
* Škoda Fabia 2022-23 support thanks to jyoung8607!
Version 0.9.1 (2023-02-28)
========================
* New driving model
* 30% improved height estimation resulting in better driving performance for tall cars
* Driver monitoring: removed timer resetting on user interaction if distracted
* UI updates
* Adjust alert volume using ambient noise level
* Driver monitoring icon shows driver's head pose
* German translation thanks to Vrabetz and CzokNorris!
* Cadillac Escalade 2017 support thanks to rickygilleland!
* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
* Genesis GV60 2023 support thanks to sunnyhaibin!
* Hyundai Tucson 2022-23 support
* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
* Kia Sorento 2022-23 support thanks to sunnyhaibin!
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Toyota C-HR 2021 support thanks to eFiniLan!
* Toyota C-HR Hybrid 2022 support thanks to Korben00!
* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
Version 0.9.0 (2022-11-21)
========================
cereal/.gitignore
+1 -4
View File
@@ -1,6 +1,4 @@
gen
node_modules
package-lock.json
/gen/
*.tmp
*.pyc
__pycache__
@@ -18,4 +16,3 @@ services.h
.sconsign.dblite
libcereal_shared.*
.mypy_cache/
catch2/
cereal/Dockerfile
+4 -3
View File
@@ -39,11 +39,12 @@ RUN pyenv install 3.8.10 && \
pyenv rehash && \
pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
WORKDIR /project/cereal/messaging
RUN git clone https://github.com/catchorg/Catch2.git && \
WORKDIR /project/
RUN cd /tmp/ && \
git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
mv single_include/catch2 ../catch2 && \
mv single_include/catch2/ /project/ && \
cd .. \
rm -rf Catch2
cereal/README.md
+1 -1
View File
@@ -1,4 +1,4 @@
What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/Tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
----
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.
cereal/car.capnp
+27 -11
View File
@@ -209,9 +209,6 @@ struct CarState {
# clutch (manual transmission only)
clutchPressed @28 :Bool;
# which packets this state came from
canMonoTimes @12: List(UInt64);
# blindspot sensors
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
@@ -220,9 +217,13 @@ struct CarState {
charging @43 :Bool;
# dp
cruiseActualEnabled @46 :Bool;
engineRPM @47 :Float32;
distanceLines @48:UInt8;
engineRPM @46 :Float32;
distanceLines @47 :UInt8;
rightBlindspotD1 @48 :Float32;
rightBlindspotD2 @49 :Float32;
leftBlindspotD1 @50 :Float32;
leftBlindspotD2 @51 :Float32;
blindspotside @52 :Float32;
struct WheelSpeeds {
# optional wheel speeds
@@ -277,9 +278,11 @@ struct CarState {
}
}
# deprecated
errorsDEPRECATED @0 :List(CarEvent.EventName);
brakeLightsDEPRECATED @19 :Bool;
steeringRateLimitedDEPRECATED @29 :Bool;
canMonoTimesDEPRECATED @12: List(UInt64);
}
# ******* radar state @ 20hz *******
@@ -288,9 +291,6 @@ struct RadarData @0x888ad6581cf0aacb {
errors @0 :List(Error);
points @1 :List(RadarPoint);
# which packets this state came from
canMonoTimes @2 :List(UInt64);
enum Error {
canError @0;
fault @1;
@@ -314,6 +314,9 @@ struct RadarData @0x888ad6581cf0aacb {
# some radars flag measurements VS estimates
measured @6 :Bool;
}
# deprecated
canMonoTimesDEPRECATED @2 :List(UInt64);
}
# ******* car controls @ 100hz *******
@@ -341,6 +344,8 @@ struct CarControl {
cruiseControl @4 :CruiseControl;
hudControl @5 :HUDControl;
latController @17 :Text;
struct Actuators {
# range from 0.0 - 1.0
gas @0: Float32;
@@ -437,6 +442,15 @@ struct CarParams {
enableBsm @56 :Bool; # blind spot monitoring
flags @64 :UInt32; # flags for car specific quirks
experimentalLongitudinalAvailable @71 :Bool;
#dp: enable torque interceptor
enableTorqueInterceptor @72 :Bool;
#dp: alt tune collection
latTuneCollection @73 :LatTunes;
struct LatTunes {
pid @0 :LateralPIDTuning;
lqr @1 :LateralLQRTuning;
torque @2 :LateralTorqueTuning;
}
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
@@ -475,7 +489,7 @@ struct CarParams {
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
steerControlType @34 :SteerControlType;
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
startAccel @32 :Float32; # Required acceleration to get car moving
@@ -593,10 +607,11 @@ struct CarParams {
subaruLegacy @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
stellantisDEPRECATED @25; # Consolidated with Chrysler; may be recycled for the next new model
volkswagenMlb @25;
hongqi @26;
body @27;
hyundaiCanfd @28;
volvoC1 @29;
}
enum SteerControlType {
@@ -622,6 +637,7 @@ struct CarParams {
request @5 :List(Data);
brand @6 :Text;
bus @7 :UInt8;
logging @8 :Bool;
}
enum Ecu {
cereal/dp.capnp
+30 -24
View File
@@ -14,10 +14,10 @@ struct DragonConf {
dpLateralLanelines @6 :Bool;
dpLateralCameraOffset @7 :Int8;
dpLateralPathOffset @8 :Int8;
dpIpAddr @9 :Text;
dpUiTop @10 :Bool;
dpUiSide @11 :Bool;
dpUiVolume @12 :Int8;
dpLateralRoadEdgeDetected @9 :Bool;
dpIpAddr @10 :Text;
dpUiTop @11 :Bool;
dpUiSide @12 :Bool;
dpUiBrightness @13 :UInt8;
dpUiDisplayMode @14 :UInt8;
dpUiSpeed @15 :Bool;
@@ -27,24 +27,30 @@ struct DragonConf {
dpUiLaneline @19 :Bool;
dpUiChevron @20 :Bool;
dpUiDmCam @21 :Bool;
dpToyotaSng @22 :Bool;
dpAccelProfileCtrl @23 :Bool;
dpAccelProfile @24 :UInt8;
dpToyotaCruiseOverride @25 :Bool;
dpToyotaCruiseOverrideSpeed @26 :UInt8;
dpToyotaAutoLock @27 :Bool;
dpToyotaAutoUnlock @28 :Bool;
dpMapd @29 :Bool;
dpLocalDb @30 :Bool;
dpDashcamd @31 :Bool;
dpMazdaSteerAlert @32 :Bool;
dpSpeedCheck @33 :Bool;
dpFollowingProfileCtrl @34 :Bool;
dpFollowingProfile @35 :UInt8;
dpE2EConditional @36 :Bool;
dpE2EConditionalAtSpeed @37 :UInt8;
dpE2EConditionalAtSpeedLead @38 :UInt8;
dpE2EConditionalAdaptFp @39 :Bool;
dpE2EConditionalAdaptAp @40 :Bool;
dpE2EConditionalVoacc @41 :Bool;
dpUiRainbow @22 :Bool;
dpToyotaSng @23 :Bool;
dpAccelProfileCtrl @24 :Bool;
dpAccelProfile @25 :UInt8;
dpToyotaCruiseOverride @26 :Bool;
dpToyotaCruiseOverrideSpeed @27 :UInt8;
dpToyotaAutoLock @28 :Bool;
dpToyotaAutoUnlock @29 :Bool;
dpToyotaDebugBsm @30 :Bool;
dpMapd @31 :Bool;
dpLocalDb @32 :Bool;
dpDashcamd @33 :Bool;
dpMazdaSteerAlert @34 :Bool;
dpSpeedCheck @35 :Bool;
dpFollowingProfileCtrl @36 :Bool;
dpFollowingProfile @37 :UInt8;
dpLateralAlt @38 :Bool;
dpLateralAltSpeed @39 :UInt8;
dpLateralAltCtrl @40 :UInt8;
dpLateralAltLanelines @41 :Bool;
dpLateralAltCameraOffset @42 :Int8;
dpLateralAltPathOffset @43 :Int8;
dpE2EConditional @44 :Bool;
dpE2EConditionalAdaptFp @45 :Bool;
dpE2EConditionalAdaptAp @46 :Bool;
dpE2EConditionalVoacc @47 :Bool;
}
cereal/libcereal_shared.so
BIN
View File
Binary file not shown.
cereal/log.capnp
+82 -29
View File
@@ -166,7 +166,7 @@ struct FrameData {
sensor @26 :ImageSensor;
enum ImageSensor {
unknown @0;
ar0321 @1;
ar0231 @1;
ox03c10 @2;
}
@@ -428,6 +428,8 @@ struct PandaState @0xa7649e2575e4591e {
safetyParam @27 :UInt16;
alternativeExperience @23 :Int16;
safetyRxChecksInvalid @32 :Bool;
#dp: enable torque interceptor
torqueInterceptorDetected @33 :Bool;
enum FaultStatus {
none @0;
@@ -544,7 +546,6 @@ struct PeripheralState {
}
struct RadarState @0x9a185389d6fdd05f {
canMonoTimes @10 :List(UInt64);
mdMonoTime @6 :UInt64;
carStateMonoTime @11 :UInt64;
radarErrors @12 :List(Car.RadarData.Error);
@@ -579,6 +580,7 @@ struct RadarState @0x9a185389d6fdd05f {
calStatusDEPRECATED @2 :Int8;
calCycleDEPRECATED @8 :Int32;
calPercDEPRECATED @9 :Int8;
canMonoTimesDEPRECATED @10 :List(UInt64);
}
struct LiveCalibrationData {
@@ -615,7 +617,6 @@ struct LiveTracks {
struct ControlsState @0x97ff69c53601abf1 {
startMonoTime @48 :UInt64;
canMonoTimes @21 :List(UInt64);
longitudinalPlanMonoTime @28 :UInt64;
lateralPlanMonoTime @50 :UInt64;
@@ -652,6 +653,9 @@ struct ControlsState @0x97ff69c53601abf1 {
cumLagMs @15 :Float32;
canErrorCounter @57 :UInt32;
# dp - for alt lateral
dpLateralAltActive @66 :Bool;
lateralControlState :union {
indiState @52 :LateralINDIState;
pidState @53 :LateralPIDState;
@@ -794,6 +798,18 @@ struct ControlsState @0x97ff69c53601abf1 {
jerkFactorDEPRECATED @12 :Float32;
steerOverrideDEPRECATED @20 :Bool;
steeringAngleDesiredDegDEPRECATED @29 :Float32;
canMonoTimesDEPRECATED @21 :List(UInt64);
}
# All SI units and in device frame
struct XYZTData @0xc3cbae1fd505ae80 {
x @0 :List(Float32);
y @1 :List(Float32);
z @2 :List(Float32);
t @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
zStd @6 :List(Float32);
}
struct ModelDataV2 {
@@ -829,16 +845,6 @@ struct ModelDataV2 {
# Model perceived motion
temporalPose @21 :Pose;
# All SI units and in device frame
struct XYZTData {
x @0 :List(Float32);
y @1 :List(Float32);
z @2 :List(Float32);
t @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
zStd @6 :List(Float32);
}
struct LeadDataV2 {
prob @0 :Float32; # probability that car is your lead at time t
@@ -1034,6 +1040,10 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
leaving @3; # Road ahead straightens. Start to allow positive acceleration.
}
}
struct UiPlan {
position @0 :XYZTData;
accel @1 :List(Float32);
}
struct LateralPlan @0xe1e9318e2ae8b51e {
modelMonoTime @31 :UInt64;
@@ -1210,16 +1220,16 @@ struct ProcLog {
}
struct GnssMeasurements {
ubloxMonoTime @0 :UInt64;
measTime @0 :UInt64;
gpsWeek @1 :Int16;
gpsTimeOfWeek @2 :Float64;
correctedMeasurements @3 :List(CorrectedMeasurement);
positionECEF @4 :LiveLocationKalman.Measurement;
velocityECEF @5 :LiveLocationKalman.Measurement;
# Used for debugging:
positionFixECEF @6 :LiveLocationKalman.Measurement;
kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
positionECEF @6 :LiveLocationKalman.Measurement;
velocityECEF @7 :LiveLocationKalman.Measurement;
# Todo sync this with timing pulse of ublox
struct CorrectedMeasurement {
@@ -1245,14 +1255,14 @@ struct GnssMeasurements {
}
enum ConstellationId {
# Satellite Constellation using the Ublox gnssid as index
gps @0;
sbas @1;
galileo @2;
beidou @3;
imes @4;
qznss @5;
glonass @6;
# Satellite Constellation using the Ublox gnssid as index
gps @0;
sbas @1;
galileo @2;
beidou @3;
imes @4;
qznss @5;
glonass @6;
}
enum EphemerisSourceType {
@@ -1260,6 +1270,7 @@ struct GnssMeasurements {
# Different ultra-rapid files:
nasaUltraRapid @1;
glonassIacUltraRapid @2;
# dp - eon/c2 need this renamed
qcompoly @3;
}
}
@@ -1271,6 +1282,7 @@ struct UbloxGnss {
ionoData @2 :IonoData;
hwStatus @3 :HwStatus;
hwStatus2 @4 :HwStatus2;
glonassEphemeris @5 :GlonassEphemeris;
}
struct MeasurementReport {
@@ -1381,6 +1393,7 @@ struct UbloxGnss {
ionoAlpha @38 :List(Float64);
ionoBeta @39 :List(Float64);
towCount @40 :UInt32;
}
struct IonoData {
@@ -1435,6 +1448,44 @@ struct UbloxGnss {
flash @4;
}
}
struct GlonassEphemeris {
svId @0 :UInt16;
year @1 :UInt16;
dayInYear @2 :UInt16;
hour @3 :UInt16;
minute @4 :UInt16;
second @5 :Float32;
x @6 :Float64;
xVel @7 :Float64;
xAccel @8 :Float64;
y @9 :Float64;
yVel @10 :Float64;
yAccel @11 :Float64;
z @12 :Float64;
zVel @13 :Float64;
zAccel @14 :Float64;
svType @15 :UInt8;
svURA @16 :Float32;
age @17 :UInt8;
svHealth @18 :UInt8;
tk @19 :UInt16;
tb @20 :UInt16;
tauN @21 :Float64;
deltaTauN @22 :Float64;
gammaN @23 :Float64;
p1 @24 :UInt8;
p2 @25 :UInt8;
p3 @26 :UInt8;
p4 @27 :UInt8;
freqNum @28 :UInt32;
}
}
struct QcomGnss @0xde94674b07ae51c1 {
@@ -2107,6 +2158,7 @@ struct Event {
carControl @23 :Car.CarControl;
longitudinalPlan @24 :LongitudinalPlan;
lateralPlan @64 :LateralPlan;
uiPlan @106 :UiPlan;
ubloxGnss @34 :UbloxGnss;
ubloxRaw @39 :Data;
qcomGnss @31 :QcomGnss;
@@ -2156,7 +2208,7 @@ struct Event {
# UI services
userFlag @93 :UserFlag;
uiDebug @102 :UIDebug;
# dp reserve 105,106
# dp reserve 107,108
# *********** debug ***********
testJoystick @52 :Joystick;
roadEncodeData @86 :EncodeData;
@@ -2164,8 +2216,8 @@ struct Event {
wideRoadEncodeData @88 :EncodeData;
qRoadEncodeData @89 :EncodeData;
dragonConf @106 :Dp.DragonConf;
liveMapData @107: LiveMapData;
dragonConf @107 :Dp.DragonConf;
liveMapData @108 :LiveMapData;
# *********** legacy + deprecated ***********
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -2203,6 +2255,7 @@ struct Event {
kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
pandaStateDEPRECATED @12 :PandaState;
# dp - legacy
driverState @59 :DriverState;
sensorEvents @11 :List(SensorEventData);
}
cereal/messaging/__init__.py
+1 -1
View File
@@ -259,4 +259,4 @@ class PubMaster:
self.sock[s].send(dat)
def all_readers_updated(self, s: str) -> bool:
return self.sock[s].all_readers_updated()
return self.sock[s].all_readers_updated() # type: ignore
cereal/messaging/bridge
BIN
View File
Binary file not shown.
cereal/messaging/impl_msgq.h
+5 -3
View File
@@ -1,8 +1,10 @@
#pragma once
#include "messaging.h"
#include "msgq.h"
#include <zmq.h>
#include <string>
#include <vector>
#include "cereal/messaging/messaging.h"
#include "cereal/messaging/msgq.h"
#define MAX_POLLERS 128
cereal/messaging/impl_zmq.h
+4 -1
View File
@@ -1,7 +1,10 @@
#pragma once
#include "messaging.h"
#include <zmq.h>
#include <string>
#include <vector>
#include "cereal/messaging/messaging.h"
#define MAX_POLLERS 128
cereal/messaging/messaging.h
+8 -3
View File
@@ -1,10 +1,15 @@
#pragma once
#include <cstddef>
#include <map>
#include <string>
#include <vector>
#include <utility>
#include <time.h>
#include <capnp/serialize.h>
#include "../gen/cpp/log.capnp.h"
#include "cereal/gen/cpp/log.capnp.h"
#ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
@@ -18,7 +23,7 @@ class Context {
public:
virtual void * getRawContext() = 0;
static Context * create();
virtual ~Context(){};
virtual ~Context(){}
};
class Message {
@@ -66,7 +71,7 @@ public:
class SubMaster {
public:
SubMaster(const std::vector<const char *> &service_list,
SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
void update(int timeout = 1000);
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
cereal/messaging/messaging.pxd
+1 -1
View File
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
from libcpp cimport bool
cdef extern from "messaging.h":
cdef extern from "cereal/messaging/messaging.h":
cdef cppclass Context:
@staticmethod
Context * create()
cereal/messaging/messaging_pyx.cpp
+123 -27
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -6,9 +6,6 @@
"depends": [
"cereal/messaging/messaging.h"
],
"include_dirs": [
"./cereal/messaging"
],
"language": "c++",
"name": "cereal.messaging.messaging_pyx",
"sources": [
@@ -28,8 +25,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -176,7 +173,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -195,7 +192,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -214,7 +211,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -345,9 +344,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -585,10 +643,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -656,7 +714,7 @@ static CYTHON_INLINE float __PYX_NAN() {
#include "typeinfo"
#include <errno.h>
#include <vector>
#include "messaging.h"
#include "cereal/messaging/messaging.h"
#ifdef _OPENMP
#include <omp.h>
#endif /* _OPENMP */
@@ -753,6 +811,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -1120,6 +1179,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
#ifndef Py_MEMBER_SIZE
#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
#endif
#if CYTHON_FAST_PYCALL
static size_t __pyx_pyframe_localsplus_offset = 0;
#include "frameobject.h"
#define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1127,6 +1187,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
(void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
#define __Pyx_PyFrame_GetLocalsplus(frame)\
(assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
#endif // CYTHON_FAST_PYCALL
#endif
/* PyObjectCallMethO.proto */
@@ -3922,6 +3983,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_Context = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_Poller(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
@@ -4055,6 +4119,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_Poller = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static struct __pyx_vtabstruct_6cereal_9messaging_13messaging_pyx_SubSocket __pyx_vtable_6cereal_9messaging_13messaging_pyx_SubSocket;
@@ -4169,6 +4236,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_SubSocket = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_PubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
@@ -4279,6 +4349,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_PubSocket = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyMethodDef __pyx_methods[] = {
@@ -6080,7 +6153,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -6177,30 +6250,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -6219,11 +6293,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -7071,6 +7150,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
cereal/messaging/messaging_pyx.so
BIN
View File
Binary file not shown.
cereal/messaging/msgq.h
+4 -2
View File
@@ -1,15 +1,17 @@
#pragma once
#include <cstdint>
#include <cstring>
#include <string>
#include <atomic>
#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
#define NUM_READERS 13 //default comma is 12
#define NUM_READERS 18 //default comma is 12
#define ALIGN(n) ((n + (8 - 1)) & -8)
#define UNUSED(x) (void)x
#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32) | ((uint64_t)lower & 0xFFFFFFFF)
struct msgq_header_t {
uint64_t num_readers;
cereal/services.h
+57 -68
View File
@@ -3,74 +3,63 @@
#define __SERVICES_H
struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
static struct service services[] = {
{ "gyroscope", 8001, true, 104, 104 },
{ "gyroscope2", 8002, true, 100, 100 },
{ "accelerometer", 8003, true, 104, 104 },
{ "accelerometer2", 8004, true, 100, 100 },
{ "magnetometer", 8005, true, 100, 100 },
{ "lightSensor", 8006, true, 100, 100 },
{ "temperatureSensor", 8007, true, 100, 100 },
{ "gpsNMEA", 8008, true, 9, -1 },
{ "deviceState", 8009, true, 2, 1 },
{ "can", 8010, true, 100, -1 },
{ "controlsState", 8011, true, 100, 10 },
{ "pandaStates", 8012, true, 2, 1 },
{ "peripheralState", 8013, true, 2, 1 },
{ "radarState", 8014, true, 20, 5 },
{ "roadEncodeIdx", 8015, false, 20, 1 },
{ "liveTracks", 8016, true, 20, -1 },
{ "sendcan", 8017, true, 100, 139 },
{ "logMessage", 8018, true, 0, -1 },
{ "errorLogMessage", 8019, true, 0, 1 },
{ "liveCalibration", 8020, true, 4, 4 },
{ "liveTorqueParameters", 8021, true, 4, 1 },
{ "androidLog", 8023, true, 0, -1 },
{ "carState", 8024, true, 100, 10 },
{ "carControl", 8025, true, 100, 10 },
{ "longitudinalPlan", 8026, true, 20, 5 },
{ "procLog", 8027, true, 0, -1 },
{ "gpsLocationExternal", 8028, true, 10, 10 },
{ "gpsLocation", 8029, true, 1, 1 },
{ "ubloxGnss", 8030, true, 10, -1 },
{ "qcomGnss", 8031, true, 2, -1 },
{ "gnssMeasurements", 8032, true, 10, 10 },
{ "clocks", 8033, true, 1, 1 },
{ "ubloxRaw", 8034, true, 20, -1 },
{ "liveLocationKalman", 8035, true, 20, 5 },
{ "liveParameters", 8036, true, 20, 5 },
{ "cameraOdometry", 8037, true, 20, 5 },
{ "lateralPlan", 8038, true, 20, 5 },
{ "thumbnail", 8039, true, 0, 1 },
{ "carEvents", 8040, true, 1, 1 },
{ "carParams", 8041, true, 0, 1 },
{ "roadCameraState", 8042, true, 20, 20 },
{ "driverCameraState", 8043, true, 10, 10 },
{ "driverEncodeIdx", 8044, false, 10, 1 },
{ "driverStateV2", 8045, true, 20, 10 },
{ "driverState", 8046, true, 10, 5 },
{ "driverMonitoringState", 8047, true, 10, 5 },
{ "wideRoadEncodeIdx", 8048, false, 20, 1 },
{ "wideRoadCameraState", 8049, true, 20, 20 },
{ "modelV2", 8050, true, 20, 40 },
{ "managerState", 8051, true, 2, 1 },
{ "uploaderState", 8052, true, 0, 1 },
{ "navInstruction", 8053, true, 1, 10 },
{ "navRoute", 8054, true, 0, -1 },
{ "navThumbnail", 8055, true, 0, -1 },
{ "navModel", 8056, true, 2, 4 },
{ "mapRenderState", 8057, true, 2, 1 },
{ "qRoadEncodeIdx", 8058, false, 20, -1 },
{ "userFlag", 8059, true, 0, 1 },
{ "microphone", 8060, true, 10, 10 },
{ "uiDebug", 8061, true, 0, 1 },
{ "testJoystick", 8062, true, 0, -1 },
{ "roadEncodeData", 8063, false, 20, -1 },
{ "driverEncodeData", 8064, false, 20, -1 },
{ "wideRoadEncodeData", 8065, false, 20, -1 },
{ "qRoadEncodeData", 8066, false, 20, -1 },
{ "dragonConf", 8067, false, 1, -1 },
{ "liveMapData", 8068, true, 0, -1 },
{ "sensorEvents", 8069, true, 100, 100 },
{ "deviceState", 8001, true, 2, 1 },
{ "can", 8002, true, 100, 1223 },
{ "controlsState", 8003, true, 100, 10 },
{ "pandaStates", 8004, true, 2, 1 },
{ "peripheralState", 8005, true, 2, 1 },
{ "radarState", 8006, true, 20, 5 },
{ "roadEncodeIdx", 8007, false, 20, 1 },
{ "liveTracks", 8008, true, 20, -1 },
{ "sendcan", 8009, true, 100, 139 },
{ "logMessage", 8010, true, 0, -1 },
{ "errorLogMessage", 8011, true, 0, 1 },
{ "liveCalibration", 8012, true, 4, 4 },
{ "liveTorqueParameters", 8013, true, 4, 1 },
{ "androidLog", 8014, true, 0, -1 },
{ "carState", 8015, true, 100, 10 },
{ "carControl", 8016, true, 100, 10 },
{ "longitudinalPlan", 8017, true, 20, 5 },
{ "procLog", 8018, true, 0, -1 },
{ "gpsLocationExternal", 8019, true, 10, 10 },
{ "gpsLocation", 8020, true, 1, 1 },
{ "ubloxGnss", 8021, true, 10, -1 },
{ "qcomGnss", 8023, true, 2, -1 },
{ "gnssMeasurements", 8024, true, 10, 10 },
{ "clocks", 8025, true, 1, 1 },
{ "ubloxRaw", 8026, true, 20, -1 },
{ "liveLocationKalman", 8027, true, 20, 5 },
{ "liveParameters", 8028, true, 20, 5 },
{ "cameraOdometry", 8029, true, 20, 5 },
{ "lateralPlan", 8030, true, 20, 5 },
{ "thumbnail", 8031, true, 0, 1 },
{ "carEvents", 8032, true, 1, 1 },
{ "carParams", 8033, true, 0, 1 },
{ "roadCameraState", 8034, true, 20, 20 },
{ "modelV2", 8035, true, 20, 40 },
{ "managerState", 8036, true, 2, 1 },
{ "uploaderState", 8037, true, 0, 1 },
{ "navInstruction", 8038, true, 1, 10 },
{ "navRoute", 8039, true, 0, -1 },
{ "navThumbnail", 8040, true, 0, -1 },
{ "navModel", 8041, true, 2, 4 },
{ "mapRenderState", 8042, true, 2, 1 },
{ "uiPlan", 8043, true, 20, 40 },
{ "qRoadEncodeIdx", 8044, false, 20, -1 },
{ "userFlag", 8045, true, 0, 1 },
{ "uiDebug", 8046, true, 0, 1 },
{ "testJoystick", 8047, true, 0, -1 },
{ "roadEncodeData", 8048, false, 20, -1 },
{ "driverEncodeData", 8049, false, 20, -1 },
{ "wideRoadEncodeData", 8050, false, 20, -1 },
{ "qRoadEncodeData", 8051, false, 20, -1 },
{ "driverCameraState", 8052, true, 10, 10 },
{ "driverEncodeIdx", 8053, false, 10, 1 },
{ "driverState", 8054, true, 10, 5 },
{ "driverMonitoringState", 8055, true, 10, 5 },
{ "sensorEvents", 8056, true, 100, 100 },
{ "dragonConf", 8057, false, 1, -1 },
{ "liveMapData", 8058, true, 0, -1 },
};
#endif
cereal/services.py
+26 -19
View File
@@ -21,16 +21,16 @@ class Service:
services = {
# service: (should_log, frequency, qlog decimation (optional))
# note: the "EncodeIdx" packets will still be in the log
"gyroscope": (True, 104., 104),
"gyroscope2": (True, 100., 100),
"accelerometer": (True, 104., 104),
"accelerometer2": (True, 100., 100),
"magnetometer": (True, 100., 100),
"lightSensor": (True, 100., 100),
"temperatureSensor": (True, 100., 100),
"gpsNMEA": (True, 9.),
# "gyroscope": (True, 104., 104),
# "gyroscope2": (True, 100., 100),
# "accelerometer": (True, 104., 104),
# "accelerometer2": (True, 100., 100),
# "magnetometer": (True, 100., 100),
# "lightSensor": (True, 100., 100),
# "temperatureSensor": (True, 100., 100),
# "gpsNMEA": (True, 9.),
"deviceState": (True, 2., 1),
"can": (True, 100.),
"can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment
"controlsState": (True, 100., 10),
"pandaStates": (True, 2., 1),
"peripheralState": (True, 2., 1),
@@ -62,13 +62,12 @@ services = {
"carEvents": (True, 1., 1),
"carParams": (True, 0.02, 1),
"roadCameraState": (True, 20., 20),
"driverCameraState": (True, 10., 10),
"driverEncodeIdx": (False, 10., 1),
"driverStateV2": (True, 20., 10),
"driverState": (True, 10, 5),
"driverMonitoringState": (True, 10., 5),
"wideRoadEncodeIdx": (False, 20., 1),
"wideRoadCameraState": (True, 20., 20),
# "driverCameraState": (True, 20., 20),
# "driverEncodeIdx": (False, 20., 1),
# "driverStateV2": (True, 20., 10),
# "driverMonitoringState": (True, 20., 10),
# "wideRoadEncodeIdx": (False, 20., 1),
# "wideRoadCameraState": (True, 20., 20),
"modelV2": (True, 20., 40),
"managerState": (True, 2., 1),
"uploaderState": (True, 0., 1),
@@ -77,9 +76,10 @@ services = {
"navThumbnail": (True, 0.),
"navModel": (True, 2., 4.),
"mapRenderState": (True, 2., 1.),
"uiPlan": (True, 20., 40.),
"qRoadEncodeIdx": (False, 20.),
"userFlag": (True, 0., 1),
"microphone": (True, 10., 10),
# "microphone": (True, 10., 10),
# debug
"uiDebug": (True, 0., 1),
@@ -90,9 +90,16 @@ services = {
"qRoadEncodeData": (False, 20.),
# dp
"dragonConf": (False, 1.),
"liveMapData": (True, 0.),
# legacy
"driverCameraState": (True, 10., 10),
"driverEncodeIdx": (False, 10., 1),
"driverState": (True, 10, 5),
"driverMonitoringState": (True, 10., 5),
"sensorEvents": (True, 100., 100),
# conf
"dragonConf": (False, 1.),
# mapd
"liveMapData": (True, 0.),
}
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
idx, (name, vals) in enumerate(services.items())}
cereal/visionipc/__init__.py
+4
View File
@@ -0,0 +1,4 @@
from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error
assert VisionIpcClient
assert VisionIpcServer
assert VisionStreamType
cereal/visionipc/visionbuf.h
+6 -3
View File
@@ -1,5 +1,6 @@
#pragma once
#include "visionipc.h"
#include "cereal/visionipc/visionipc.h"
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
@@ -20,7 +21,7 @@ enum VisionStreamType {
VISION_STREAM_DRIVER,
VISION_STREAM_WIDE_ROAD,
VISION_STREAM_RGB_MAP,
VISION_STREAM_MAP,
VISION_STREAM_MAX,
};
@@ -36,11 +37,13 @@ class VisionBuf {
size_t width = 0;
size_t height = 0;
size_t stride = 0;
size_t uv_offset = 0;
// YUV
uint8_t * y = nullptr;
uint8_t * u = nullptr;
uint8_t * v = nullptr;
uint8_t * uv = nullptr;
// Visionipc
uint64_t server_id = 0;
@@ -58,7 +61,7 @@ class VisionBuf {
void import();
void init_cl(cl_device_id device_id, cl_context ctx);
void init_rgb(size_t width, size_t height, size_t stride);
void init_yuv(size_t width, size_t height);
void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset);
int sync(int dir);
int free();
cereal/visionipc/visionipc.pxd
+7 -4
View File
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
from libc.stdint cimport uint32_t, uint64_t
from libcpp cimport bool
cdef extern from "visionbuf.h":
cdef extern from "cereal/visionipc/visionbuf.h":
cdef enum VisionStreamType:
pass
@@ -16,22 +16,25 @@ cdef extern from "visionbuf.h":
size_t width
size_t height
size_t stride
size_t uv_offset
void set_frame_id(uint64_t id)
cdef extern from "visionipc.h":
cdef extern from "cereal/visionipc/visionipc.h":
struct VisionIpcBufExtra:
uint32_t frame_id
uint64_t timestamp_sof
uint64_t timestamp_eof
cdef extern from "visionipc_server.h":
cdef extern from "cereal/visionipc/visionipc_server.h":
cdef cppclass VisionIpcServer:
VisionIpcServer(string, void*, void*)
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
void create_buffers_with_sizes(VisionStreamType, size_t, bool, size_t, size_t, size_t, size_t, size_t)
VisionBuf * get_buffer(VisionStreamType)
void send(VisionBuf *, VisionIpcBufExtra *, bool)
void start_listener()
cdef extern from "visionipc_client.h":
cdef extern from "cereal/visionipc/visionipc_client.h":
cdef cppclass VisionIpcClient:
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
VisionBuf * recv(VisionIpcBufExtra *, int)
cereal/visionipc/visionipc_client.h
+8 -6
View File
@@ -1,11 +1,13 @@
#pragma once
#include <vector>
#include <set>
#include <string>
#include <vector>
#include <unistd.h>
#include "messaging/messaging.h"
#include "visionipc/visionipc.h"
#include "visionipc/visionbuf.h"
#include "cereal/messaging/messaging.h"
#include "cereal/visionipc/visionipc.h"
#include "cereal/visionipc/visionbuf.h"
class VisionIpcClient {
private:
@@ -14,8 +16,6 @@ private:
SubSocket * sock;
Poller * poller;
VisionStreamType type;
cl_device_id device_id = nullptr;
cl_context ctx = nullptr;
@@ -23,6 +23,7 @@ private:
public:
bool connected = false;
VisionStreamType type;
int num_buffers = 0;
VisionBuf buffers[VISIONIPC_MAX_FDS];
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
@@ -30,4 +31,5 @@ public:
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
bool connect(bool blocking=true);
bool is_connected() { return connected; }
static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
};
cereal/visionipc/visionipc_pyx.cpp
+421 -162
View File
File diff suppressed because it is too large Load Diff
cereal/visionipc/visionipc_pyx.so
BIN
View File
Binary file not shown.
cereal/visionipc/visionipc_server.h
+4 -3
View File
@@ -5,9 +5,9 @@
#include <atomic>
#include <map>
#include "messaging/messaging.h"
#include "visionipc/visionipc.h"
#include "visionipc/visionbuf.h"
#include "cereal/messaging/messaging.h"
#include "cereal/visionipc/visionipc.h"
#include "cereal/visionipc/visionbuf.h"
std::string get_endpoint_name(std::string name, VisionStreamType type);
@@ -37,6 +37,7 @@ class VisionIpcServer {
VisionBuf * get_buffer(VisionStreamType type);
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
void create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset);
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
void start_listener();
};
common/clock.cpp
+108 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -23,8 +23,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -171,7 +171,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -190,7 +190,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -209,7 +209,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -340,9 +342,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -580,10 +641,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -742,6 +803,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -1802,7 +1864,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -1899,30 +1961,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -1941,11 +2004,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -2793,6 +2861,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
common/clock.so
BIN
View File
Binary file not shown.
common/dp_conf.py
+15 -6
View File
@@ -24,7 +24,7 @@ confs = [
{'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# nav service
{'name': 'dp_nav', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_nav', 'default': True if TICI else False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
{'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
@@ -56,22 +56,24 @@ confs = [
{'name': 'dp_lateral_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_road_edge_detected', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
#ui
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
{'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
#{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
# {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_lead_info', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_laneline', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_chevron', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_dm_cam', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_ui_rainbow', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
#toyota
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -104,7 +106,7 @@ confs = [
# # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_dm', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_dm', 'default': True if not TICI else False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_temp_check', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
# {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -117,6 +119,12 @@ confs = [
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_tune', 'default': 0, 'type': 'UInt8', 'conf_type': ['param']},
{'name': 'dp_lateral_torque_live_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_lateral_alt', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_alt_speed', 'default': 80, 'type': 'UInt8', 'min': 10, 'max': 130, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_alt_ctrl', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_alt_lanelines', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_alt_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_lateral_alt_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
# {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
# {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
# # safety
@@ -138,14 +146,15 @@ confs = [
{'name': 'dp_toyota_rav4_tss2_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_toyota_prius_bad_angle_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_e2e_conditional', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
#{'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
#{'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_e2e_conditional_adapt_fp', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_e2e_conditional_adapt_ap', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
{'name': 'dp_e2e_conditional_voacc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
# {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_toyota_change5speed', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
common/kalman/simple_kalman_impl.cpp
+113 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -22,8 +22,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -170,7 +170,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -189,7 +189,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -208,7 +208,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -339,9 +341,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -579,10 +640,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -738,6 +799,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -1116,6 +1178,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
#ifndef Py_MEMBER_SIZE
#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
#endif
#if CYTHON_FAST_PYCALL
static size_t __pyx_pyframe_localsplus_offset = 0;
#include "frameobject.h"
#define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1123,6 +1186,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
(void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
#define __Pyx_PyFrame_GetLocalsplus(frame)\
(assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
#endif // CYTHON_FAST_PYCALL
#endif
/* PyObjectCall.proto */
@@ -4329,6 +4393,9 @@ static PyTypeObject __pyx_type_6common_6kalman_18simple_kalman_impl_KF1D = {
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyMethodDef __pyx_methods[] = {
@@ -5873,7 +5940,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -5970,30 +6037,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -6012,11 +6080,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -6864,6 +6937,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
common/kalman/simple_kalman_impl.so
BIN
View File
Binary file not shown.
common/params_pyx.so
BIN
View File
Binary file not shown.
common/transformations/transformations.cpp
+113 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -32,8 +32,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -180,7 +180,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -199,7 +199,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -218,7 +218,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -349,9 +351,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -589,10 +650,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -762,6 +823,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -1345,6 +1407,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
#ifndef Py_MEMBER_SIZE
#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
#endif
#if CYTHON_FAST_PYCALL
static size_t __pyx_pyframe_localsplus_offset = 0;
#include "frameobject.h"
#define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1352,6 +1415,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
(void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
#define __Pyx_PyFrame_GetLocalsplus(frame)\
(assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
#endif // CYTHON_FAST_PYCALL
#endif
/* PyObjectCall.proto */
@@ -6278,6 +6342,9 @@ static PyTypeObject __pyx_type_6common_15transformations_15transformations_Local
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
0, /*tp_print*/
#endif
#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
0, /*tp_pypy_flags*/
#endif
};
static PyMethodDef __pyx_methods[] = {
@@ -9042,7 +9109,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -9139,30 +9206,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -9181,11 +9249,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -10361,6 +10434,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
common/transformations/transformations.so
BIN
View File
Binary file not shown.
common/version.h
+1 -1
View File
@@ -1 +1 @@
#define COMMA_VERSION "2023.02.08"
#define COMMA_VERSION "2023.03.27"
docs/CARS.md
+243 -225
View File
@@ -4,237 +4,255 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 220 Supported Cars
# 238 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Genesis|GV60 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec</a>||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A</a>||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533</a>||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533</a>||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<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)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A</a>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-22">Honda Nidec</a>||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E</a>||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C</a>||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H</a>||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-21">Hyundai H</a>||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N</a>||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E</a>||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L</a>||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022">Hyundai P</a>||
|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022">Hyundai L</a>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G</a>||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2022-23">Hyundai K</a>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2017-20">Toyota</a>||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota</a>||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-22">Ram</a>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A</a>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A</a>||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B</a>||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533</a>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota</a>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota</a>||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota</a>||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota</a>||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota</a>||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota</a>||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota</a>||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota</a>||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota</a>||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota</a>||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota</a>||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533</a>||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533</a>||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533</a>||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533</a>||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
|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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533</a>||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
<a id="footnotes"></a>
<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">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a>, additional <a href="https://comma.ai/shop/harness-box" target="_blank">harness box</a>, additional <a href="https://comma.ai/shop/obd-c-cable" target="_blank">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle. <br />
<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
laika/astro_dog.py
+8 -9
View File
@@ -48,13 +48,13 @@ class AstroDog:
self.valid_ephem_types = valid_ephem_types
self.orbit_fetched_times = TimeRangeHolder()
self.nav_fetched_times = TimeRangeHolder()
self.navs_fetched_times = TimeRangeHolder()
self.dcbs_fetched_times = TimeRangeHolder()
self.dgps_delays = []
self.ionex_maps: List[IonexMap] = []
self.orbits: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
self.nav: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
self.navs: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
self.dcbs: DefaultDict[str, List[DCB]] = defaultdict(list)
self.cached_ionex: Optional[IonexMap] = None
@@ -73,8 +73,8 @@ class AstroDog:
return ionex
def get_nav(self, prn, time):
skip_download = time in self.nav_fetched_times
nav = self._get_latest_valid_data(self.nav[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download)
skip_download = time in self.navs_fetched_times
nav = self._get_latest_valid_data(self.navs[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download)
if nav is not None:
self.cached_nav[prn] = nav
return nav
@@ -97,9 +97,9 @@ class AstroDog:
return result
def get_navs(self, time):
if time not in self.nav_fetched_times and self.auto_update:
if time not in self.navs_fetched_times:
self.get_nav_data(time)
return AstroDog._select_valid_temporal_items(self.nav, time, self.cached_nav)
return AstroDog._select_valid_temporal_items(self.navs, time, self.cached_nav)
def get_orbit(self, prn: str, time: GPSTime):
skip_download = time in self.orbit_fetched_times
@@ -133,7 +133,7 @@ class AstroDog:
self._add_ephems(new_ephems, self.orbits, self.orbit_fetched_times)
def add_navs(self, new_ephems: Dict[str, List[Ephemeris]]):
self._add_ephems(new_ephems, self.nav, self.nav_fetched_times)
self._add_ephems(new_ephems, self.navs, self.navs_fetched_times)
def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict, fetched_times):
for k, v in new_ephems.items():
@@ -172,7 +172,7 @@ class AstroDog:
if sum([len(v) for v in fetched_ephems.values()]) == 0:
begin_day = GPSTime(time.week, SECS_IN_DAY * (time.tow // SECS_IN_DAY))
end_day = GPSTime(time.week, SECS_IN_DAY * (1 + (time.tow // SECS_IN_DAY)))
self.nav_fetched_times.add(begin_day, end_day)
self.navs_fetched_times.add(begin_day, end_day)
def download_parse_orbit(self, gps_time: GPSTime, skip_before_epoch=None) -> Dict[str, List[PolyEphemeris]]:
# Download multiple days to be able to polyfit at the start-end of the day
@@ -265,7 +265,6 @@ class AstroDog:
eph = self.get_orbit(prn, time)
if not eph and self.pull_nav:
eph = self.get_nav(prn, time)
if eph:
return eph.get_sat_info(time)
return None
laika/dgps.py
+4 -2
View File
@@ -5,6 +5,7 @@ from datetime import datetime
from .gps_time import GPSTime
from .constants import SECS_IN_YEAR
from . import raw_gnss as raw
from . import opt
from .rinex_file import RINEXFile
from .downloader import download_cors_coords
from .helpers import get_constellation
@@ -107,8 +108,9 @@ def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, requ
station_delays[signal] = {}
for i, proc_measurement in enumerate(proc_measurements):
times.append(proc_measurement[0].recv_time)
Fx_pos = raw.pr_residual(proc_measurement, signal=signal)
residual = -np.array(Fx_pos(list(station_pos) + [0, 0]))
Fx_pos = opt.pr_residual(proc_measurement, signal=signal)
residual, _ = Fx_pos(list(station_pos) + [0,0])
residual = -np.array(residual)
for j, m in enumerate(proc_measurement):
prn = m.prn
if prn not in station_delays[signal]:
laika/downloader.py
+60 -40
View File
@@ -7,18 +7,18 @@ import urllib.error
import pycurl
import re
import time
import tempfile
import socket
from datetime import datetime, timedelta
from urllib.parse import urlparse
from io import BytesIO
from ftplib import FTP_TLS
from atomicwrites import atomic_write
from laika.ephemeris import EphemerisType
from .constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK
from .gps_time import GPSTime
from .gps_time import GPSTime, tow_to_datetime
from .helpers import ConstellationId
dir_path = os.path.dirname(os.path.realpath(__file__))
@@ -177,24 +177,6 @@ def http_download_files(url_base, folder_path, cacheDir, filenames):
def https_download_file(url):
if 'nasa.gov/' not in url:
netrc_path = None
f = None
elif os.path.isfile(dir_path + '/.netrc'):
netrc_path = dir_path + '/.netrc'
f = None
else:
try:
username = os.environ['NASA_USERNAME']
password = os.environ['NASA_PASSWORD']
f = tempfile.NamedTemporaryFile()
netrc = f"machine urs.earthdata.nasa.gov login {username} password {password}"
f.write(netrc.encode())
f.flush()
netrc_path = f.name
except KeyError:
raise DownloadFailed('Could not find .netrc file and no NASA_USERNAME and NASA_PASSWORD in environment for urs.earthdata.nasa.gov authentication')
crl = pycurl.Curl()
crl.setopt(crl.CAINFO, certifi.where())
crl.setopt(crl.URL, url)
@@ -202,17 +184,12 @@ def https_download_file(url):
crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT@SECLEVEL=1')
crl.setopt(crl.COOKIEJAR, '/tmp/cddis_cookies')
crl.setopt(pycurl.CONNECTTIMEOUT, 10)
if netrc_path is not None:
crl.setopt(crl.NETRC_FILE, netrc_path)
crl.setopt(crl.NETRC, 2)
buf = BytesIO()
crl.setopt(crl.WRITEDATA, buf)
crl.perform()
response = crl.getinfo(pycurl.RESPONSE_CODE)
crl.close()
if f is not None:
f.close()
if response != 200:
raise DownloadFailed('HTTPS error ' + str(response))
@@ -228,6 +205,17 @@ def ftp_download_file(url):
except urllib.error.URLError as e:
raise DownloadFailed(e)
def ftps_download_file(url):
parsed = urlparse(url)
try:
buf = BytesIO()
with FTP_TLS(parsed.hostname) as ftps:
ftps.login(user='anonymous')
ftps.prot_p()
ftps.retrbinary('RETR ' + parsed.path, buf.write)
return buf.getvalue()
except ftplib.all_errors as e:
raise DownloadFailed(e)
@retryable
def download_files(url_base, folder_path, cacheDir, filenames):
@@ -242,11 +230,13 @@ def download_files(url_base, folder_path, cacheDir, filenames):
def download_file(url_base, folder_path, filename_zipped):
url = url_base + folder_path + filename_zipped
print('Downloading ' + url)
if url.startswith('https'):
if url.startswith('https://'):
return https_download_file(url)
if url.startswith('ftp'):
elif url.startswith('ftp://'):
return ftp_download_file(url)
raise NotImplementedError('Did find ftp or https preamble')
elif url.startswith('sftp://'):
return ftps_download_file(url)
raise NotImplementedError('Did not find supported url scheme')
def download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir, compression='', overwrite=False, raise_error=False):
@@ -308,26 +298,51 @@ def download_nav(time: GPSTime, cache_dir, constellation: ConstellationId):
if GPSTime.from_datetime(datetime.utcnow()) - time > SECS_IN_DAY:
url_bases = (
'https://github.com/commaai/gnss-data/raw/master/gnss/data/daily/',
'https://cddis.nasa.gov/archive/gnss/data/daily/',
'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/daily/',
)
filename = t.strftime(f"brdc%j0.%y{c}")
folder_path = t.strftime(f'%Y/%j/%y{c}/')
compression = '.gz' if folder_path >= '2020/335/' else '.Z'
return download_and_cache_file(url_bases, folder_path, cache_dir+'daily_nav/', filename, compression)
elif constellation == ConstellationId.GPS:
url_base = 'https://cddis.nasa.gov/archive/gnss/data/hourly/'
filename = t.strftime(f"hour%j0.%y{c}")
folder_path = t.strftime('%Y/%j/')
compression = '.gz' if folder_path >= '2020/336/' else '.Z'
return download_and_cache_file(url_base, folder_path, cache_dir+'hourly_nav/', filename, compression)
else:
url_bases = (
'https://github.com/commaai/gnss-data-hourly/raw/master/',
'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/hourly/',
)
times = [t, (t - timedelta(hours=1))]
folder_and_filenames = [(t.strftime('%Y/%j/'), t.strftime(f"hour%j0.%y{c}")) for t in times]
compression = '.gz' if folder_and_filenames[0][0] >= '2020/336/' else '.Z'
# always overwrite as this file is appended
return download_and_cache_file_return_first_success(url_bases,
folder_and_filenames, cache_dir+'hourly_nav/', compression, overwrite=True)
except DownloadFailed:
pass
def download_orbits_gps_cod0(time, cache_dir, ephem_types):
url_bases = (
'https://github.com/commaai/gnss-data/raw/master/gnss/products/',
'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/',
)
if EphemerisType.ULTRA_RAPID_ORBIT not in ephem_types:
# TODO: raise error here
return None
tm = tow_to_datetime(time.tow, time.week).timetuple()
doy = str(tm.tm_yday).zfill(3)
filename = f"COD0OPSULT_{tm.tm_year}{doy}0000_02D_05M_ORB.SP3"
# TODO: add hour management
folder_path = "%i/" % time.week
folder_file_names = [(folder_path, filename)]
return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.gz')
def download_orbits_gps(time, cache_dir, ephem_types):
url_bases = (
'https://github.com/commaai/gnss-data/raw/master/gnss/products/',
'https://cddis.nasa.gov/archive/gnss/products/',
'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/',
'ftp://igs.ign.fr/pub/igs/products/',
)
folder_path = "%i/" % time.week
@@ -344,7 +359,12 @@ def download_orbits_gps(time, cache_dir, ephem_types):
f"igu{time_str}_06.sp3",
f"igu{time_str}_00.sp3"])
folder_file_names = [(folder_path, filename) for filename in filenames]
return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z')
ret = download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z')
if ret is not None:
return ret
# fallback to COD0 Ultra Rapid Orbits
return download_orbits_gps_cod0(time, cache_dir, ephem_types)
def download_prediction_orbits_russia_src(gps_time, cache_dir):
@@ -406,7 +426,7 @@ def download_ionex(time, cache_dir):
t = time.as_datetime()
url_bases = (
'https://github.com/commaai/gnss-data/raw/master/gnss/products/ionex/',
'https://cddis.nasa.gov/archive/gnss/products/ionex/',
'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/ionex/',
'ftp://igs.ensg.ign.fr/pub/igs/products/ionosphere/',
'ftp://gssc.esa.int/gnss/products/ionex/',
)
@@ -422,7 +442,7 @@ def download_dcb(time, cache_dir):
folder_paths = []
url_bases = (
'https://github.com/commaai/gnss-data/raw/master/gnss/products/bias/',
'https://cddis.nasa.gov/archive/gnss/products/bias/',
'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/bias/',
'ftp://igs.ign.fr/pub/igs/products/mgex/dcb/',
)
# seem to be a lot of data missing, so try many days
laika/ephemeris.py
+58 -16
View File
@@ -7,7 +7,7 @@ from typing import Dict, List, Optional
import numpy as np
import numpy.polynomial.polynomial as poly
from datetime import datetime
from datetime import datetime, timedelta
from math import sin, cos, sqrt, fabs, atan2
from .gps_time import GPSTime, utc_to_gpst
@@ -24,7 +24,7 @@ def read4(f, rinex_ver):
return float(line[4:23]), float(line[23:42]), float(line[42:61]), float(line[61:80])
def convert_ublox_ephem(ublox_ephem, current_time: Optional[datetime] = None):
def convert_ublox_gps_ephem(ublox_ephem, current_time: Optional[datetime] = None):
# Week time of ephemeris gps msg has a roll-over period of 10 bits (19.6 years)
# The latest roll-over was on 2019-04-07
week = ublox_ephem.gpsWeek
@@ -38,6 +38,12 @@ def convert_ublox_ephem(ublox_ephem, current_time: Optional[datetime] = None):
roll_overs = GPSTime.from_datetime(current_time).week // 1024
week += (roll_overs - (week // 1024)) * 1024
# GPS week refers to current week, the ephemeris can be valid for the next
# if toe equals 0, this can be verified by the TOW count if it is within the
# last 2 hours of the week (gps ephemeris valid for 4hours)
if ublox_ephem.toe == 0 and ublox_ephem.towCount*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR):
week += 1
ephem = {}
ephem['sv_id'] = ublox_ephem.svId
ephem['toe'] = GPSTime(week, ublox_ephem.toe)
@@ -65,10 +71,48 @@ def convert_ublox_ephem(ublox_ephem, current_time: Optional[datetime] = None):
ephem['omegadot'] = ublox_ephem.omegaDot
ephem['omega0'] = ublox_ephem.omega0
ephem['healthy'] = ublox_ephem.svHealth == 0.0
epoch = ephem['toe']
return GPSEphemeris(ephem, epoch)
def convert_ublox_glonass_ephem(ublox_ephem, current_time: Optional[datetime] = None):
ephem = {}
ephem['prn'] = 'R%02i' % ublox_ephem.svId
etime = datetime.strptime(f"{ublox_ephem.year}-{ublox_ephem.dayInYear}", "%Y-%j")
# glonass time: UTC + 3h
time_in_day = timedelta(hours=ublox_ephem.hour, minutes=ublox_ephem.minute, seconds=ublox_ephem.second)
ephem['toc'] = GPSTime.from_datetime(etime + time_in_day - timedelta(hours=3))
ephem['toe'] = GPSTime.from_datetime(etime + timedelta(minutes=(ublox_ephem.tb*15 - 180)))
ephem['x'] = ublox_ephem.x # km
ephem['x_vel'] = ublox_ephem.xVel # km/s
ephem['x_acc'] = ublox_ephem.xAccel # km/s*s
ephem['y'] = ublox_ephem.y # km
ephem['y_vel'] = ublox_ephem.yVel # km/s
ephem['y_acc'] = ublox_ephem.yAccel # km/s*s
ephem['z'] = ublox_ephem.z # km
ephem['z_vel'] = ublox_ephem.zVel # km/s
ephem['z_acc'] = ublox_ephem.zAccel # km/s*s
ephem['healthy'] = ublox_ephem.svHealth == 0.0
ephem['age'] = ublox_ephem.age # age of information [days]
# tauN compared to ephemeris from gdc.cddis.eosdis.nasa.gov is times -1
ephem['min_tauN'] = ublox_ephem.tauN * (-1) # time correction relative to GLONASS tc
ephem['GammaN'] = ublox_ephem.gammaN
# TODO: channel is in string 7, which is not parsed
ephem['freq_num'] = "1"
# NOTE: ublox_ephem.tk is in a different format than rinex tk
return GLONASSEphemeris(ephem, ephem['toe'])
class EphemerisType(IntEnum):
# Matches the enum in log.capnp
NAV = 0
@@ -87,7 +131,7 @@ class EphemerisType(IntEnum):
return EphemerisType.FINAL_ORBIT
if "/rapid" in file_name or "/igr" in file_name:
return EphemerisType.RAPID_ORBIT
if "/ultra" in file_name or "/igu" in file_name:
if "/ultra" in file_name or "/igu" in file_name or "COD0OPSULT" in file_name:
return EphemerisType.ULTRA_RAPID_ORBIT
raise RuntimeError(f"Ephemeris type not found in filename: {file_name}")
@@ -158,8 +202,8 @@ class EphemerisSerializer(json.JSONEncoder):
class GLONASSEphemeris(Ephemeris):
def __init__(self, data, epoch, healthy=True, file_name=None):
super().__init__(data['prn'], data, epoch, EphemerisType.NAV, healthy, max_time_diff=25*SECS_IN_MIN, file_name=file_name)
def __init__(self, data, epoch, file_name=None):
super().__init__(data['prn'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=25*SECS_IN_MIN, file_name=file_name)
self.channel = data['freq_num']
self.to_json()
@@ -168,9 +212,7 @@ class GLONASSEphemeris(Ephemeris):
# http://gauss.gge.unb.ca/GLONASS.ICD.pdf
eph = self.data
# TODO should handle leap seconds better
toc_gps_time = utc_to_gpst(eph['toc'])
tdiff = time - toc_gps_time
tdiff = time - utc_to_gpst(eph['toe'])
# Clock correction (except for general relativity which is applied later)
clock_err = eph['min_tauN'] + tdiff * (eph['GammaN'])
@@ -227,8 +269,9 @@ class GLONASSEphemeris(Ephemeris):
class PolyEphemeris(Ephemeris):
def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType,
file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0):
super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=SECS_IN_HR, file_epoch=file_epoch, file_name=file_name)
file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0,
max_time_diff: int=SECS_IN_HR):
super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
self.tgd = tgd
self.to_json()
@@ -247,8 +290,8 @@ class PolyEphemeris(Ephemeris):
class GPSEphemeris(Ephemeris):
def __init__(self, data, epoch, healthy=True, file_name=None):
super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, healthy, max_time_diff=2*SECS_IN_HR, file_name=file_name)
def __init__(self, data, epoch, file_name=None):
super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=2*SECS_IN_HR, file_name=file_name)
self.max_time_diff_tgd = SECS_IN_DAY
self.to_json()
@@ -403,7 +446,7 @@ def read_prn_data(data, prn, deg=16, deg_t=1):
measurements = np_data_prn[i:i + deg + 1, 1:5]
times = (measurements[:, 0] - epoch).astype(float)
if (np.diff(times) != 900).any():
if not (np.diff(times) != 900).any() and not (np.diff(times) != 300).any():
continue
poly_data = {}
@@ -516,7 +559,7 @@ def parse_rinex_nav_msg_glonass(file_name):
line = line.replace('D', 'E') # Handle bizarro float format
e = {'epoch': epoch, 'prn': prn}
e['toc'] = epoch
e['toe'] = epoch
e['min_tauN'] = float(line[23:42])
e['GammaN'] = float(line[42:61])
e['tk'] = float(line[61:80])
@@ -526,7 +569,6 @@ def parse_rinex_nav_msg_glonass(file_name):
e['z'], e['z_vel'], e['z_acc'], e['age'] = read4(f, rinex_ver)
e['healthy'] = (e['health'] == 0.0)
ephems[prn].append(GLONASSEphemeris(e, epoch, file_name=file_name))
f.close()
return ephems
@@ -553,4 +595,4 @@ def parse_qcom_ephem(qcom_poly, current_week):
poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
poly_data['deg'] = 3
poly_data['deg_t'] = 3
return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY)
return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=180)
laika/gps_time.py
+1 -2
View File
@@ -62,8 +62,7 @@ def get_leap_seconds(time):
return 15
elif time <= GPSTime.from_datetime(datetime.datetime(2015, 7, 1)):
return 16
# TODO is this correct?
elif time <= GPSTime.from_datetime(datetime.datetime(2017, 7, 1)):
elif time <= GPSTime.from_datetime(datetime.datetime(2017, 1, 1)):
return 17
else:
return 18
laika/opt.py
+191
View File
@@ -0,0 +1,191 @@
import sympy
import numpy as np
from typing import List
from .constants import EARTH_ROTATION_RATE, SPEED_OF_LIGHT
from .helpers import ConstellationId
from .raw_gnss import GNSSMeasurement
def gauss_newton(fun, b, xtol=1e-8, max_n=25):
for _ in range(max_n):
# Compute function and jacobian on current estimate
r, J = fun(b)
# Update estimate
delta = np.linalg.pinv(J) @ r
b -= delta
# Check step size for stopping condition
if np.linalg.norm(delta) < xtol:
break
return b
def calc_pos_fix(measurements, posfix_functions=None, x0=None, no_weight=False, signal='C1C', min_measurements=6):
'''
Calculates gps fix using gauss newton method
To solve the problem a minimal of 4 measurements are required.
If Glonass is included 5 are required to solve for the additional free variable.
returns:
0 -> list with positions
1 -> pseudorange errs
'''
if x0 is None:
x0 = [0, 0, 0, 0, 0]
if len(measurements) < min_measurements:
return [],[]
Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_weight=no_weight, no_nans=True)
x = gauss_newton(Fx_pos, x0)
residual, _ = Fx_pos(x, no_weight=True)
return x.tolist(), residual.tolist()
def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, no_weight=False, signal='D1C', min_measurements=6):
'''
Calculates gps velocity fix using gauss newton method
returns:
0 -> list with velocities
1 -> pseudorange_rate errs
'''
if v0 is None:
v0 = [0, 0, 0, 0]
if len(measurements) < min_measurements:
return [], []
Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_weight=no_weight, no_nans=True)
v = gauss_newton(Fx_vel, v0)
residual, _ = Fx_vel(v, no_weight=True)
return v.tolist(), residual.tolist()
def get_posfix_sympy_fun(constellation):
# Unknowns
x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z')
bc = sympy.Symbol('bc')
bg = sympy.Symbol('bg')
zero_theta = sympy.Symbol('zero_theta')
var = [x, y, z, bc, bg]
# Knowns
pr = sympy.Symbol('pr')
sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
weight = sympy.Symbol('weight')
theta = (EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT)*zero_theta
val = sympy.sqrt(
(sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 +
(sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 +
(sat_z - z) ** 2
)
if constellation == ConstellationId.GLONASS:
res = weight * (val - (pr - bc - bg))
elif constellation == ConstellationId.GPS:
res = weight * (val - (pr - bc))
else:
raise NotImplementedError(f"Constellation {constellation} not supported")
res = [res] + [sympy.diff(res, v) for v in var]
return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z, weight], res, modules=["numpy"])
def get_velfix_sympy_func():
# implementing this without sympy.Matrix gives a 2x speedup at generation
# knowns, receiver position, satellite position, satellite velocity
ep_x, ep_y, ep_z = sympy.Symbol('ep_x'), sympy.Symbol('ep_y'), sympy.Symbol('ep_z')
est_pos = np.array([ep_x, ep_y, ep_z])
sp_x, sp_y, sp_z = sympy.Symbol('sp_x'), sympy.Symbol('sp_y'), sympy.Symbol('sp_z')
sat_pos = np.array([sp_x, sp_y, sp_z])
sv_x, sv_y, sv_z = sympy.Symbol('sv_x'), sympy.Symbol('sv_y'), sympy.Symbol('sv_z')
sat_vel = np.array([sv_x, sv_y, sv_z])
observables = sympy.Symbol('observables')
weight = sympy.Symbol('weight')
# unknown, receiver velocity
v_x, v_y, v_z = sympy.Symbol('v_x'), sympy.Symbol('v_y'), sympy.Symbol('v_z')
vel = np.array([v_x, v_y, v_z])
vel_o = sympy.Symbol('vel_o')
loss = sat_pos - est_pos
loss /= sympy.sqrt(loss.dot(loss))
nv = loss.dot(sat_vel - vel)
ov = (observables - vel_o)
res = (nv - ov)*weight
res = [res] + [sympy.diff(res, v) for v in [v_x, v_y, v_z, vel_o]]
return sympy.lambdify([
ep_x, ep_y, ep_z, sp_x, sp_y, sp_z,
sv_x, sv_y, sv_z, observables, weight,
v_x, v_y, v_z, vel_o
],
res, modules=["numpy"])
def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_weight=False, no_nans=False):
if posfix_functions is None:
posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
def Fx_pos(inp, no_weight=no_weight):
vals, gradients = [], []
for meas in measurements:
if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]):
pr = meas.observables_final[signal]
sat_pos = meas.sat_pos_final
zero_theta = 0
elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed:
pr = meas.observables[signal]
pr += meas.sat_clock_err * SPEED_OF_LIGHT
sat_pos = meas.sat_pos
zero_theta = 1
else:
if not no_nans:
vals.append(np.nan)
gradients.append(np.nan)
continue
w = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal])
val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos, w)
vals.append(val)
gradients.append(gradient)
return np.asarray(vals), np.asarray(gradients)
return Fx_pos
def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_weight=False, no_nans=False):
if velfix_function is None:
velfix_function = get_velfix_sympy_func()
def Fx_vel(vel, no_weight=no_weight):
vals, gradients = [], []
for meas in measurements:
if signal not in meas.observables or not np.isfinite(meas.observables[signal]):
if not no_nans:
vals.append(np.nan)
gradients.append(np.nan)
continue
sat_pos = meas.sat_pos_final if meas.corrected else meas.sat_pos
weight = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal])
val, *gradient = velfix_function(est_pos[0], est_pos[1], est_pos[2],
sat_pos[0], sat_pos[1], sat_pos[2],
meas.sat_vel[0], meas.sat_vel[1], meas.sat_vel[2],
meas.observables[signal], weight,
vel[0], vel[1], vel[2], vel[3])
vals.append(val)
gradients.append(gradient)
return np.asarray(vals), np.asarray(gradients)
return Fx_vel
laika/raw_gnss.py
+4 -106
View File
@@ -92,11 +92,11 @@ class GNSSMeasurement:
self.processed = True
return True
def correct(self, est_pos, dog, allow_incomplete_delay=False):
def correct(self, est_pos, dog):
for obs in self.observables:
if obs[0] == 'C': # or obs[0] == 'L':
delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
if delay is not None and (allow_incomplete_delay or delay != 0):
if delay is not None:
self.observables_final[obs] = (self.observables[obs] +
self.sat_clock_err*constants.SPEED_OF_LIGHT -
delay)
@@ -147,10 +147,10 @@ def process_measurements(measurements: List[GNSSMeasurement], dog) -> List[GNSSM
return proc_measurements
def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog, allow_incomplete_delay=False) -> List[GNSSMeasurement]:
def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog) -> List[GNSSMeasurement]:
corrected_measurements = []
for meas in measurements:
if meas.correct(est_pos, dog, allow_incomplete_delay):
if meas.correct(est_pos, dog):
corrected_measurements.append(meas)
return corrected_measurements
@@ -292,108 +292,6 @@ def read_rinex_obs(obsdata) -> List[List[GNSSMeasurement]]:
return measurements
def calc_pos_fix(measurements, x0=[0, 0, 0, 0, 0], no_weight=False, signal='C1C', min_measurements=6):
'''
Calculates gps fix with WLS optimizer
returns:
0 -> list with positions
1 -> pseudorange errs
'''
import scipy.optimize as opt # Only use scipy here
n = len(measurements)
if n < min_measurements:
return []
Fx_pos = pr_residual(measurements, signal=signal, no_weight=no_weight, no_nans=True)
opt_pos = opt.least_squares(Fx_pos, x0).x
return opt_pos, Fx_pos(opt_pos, no_weight=True)
def calc_vel_fix(measurements, est_pos, v0=[0, 0, 0, 0], no_weight=False, signal='D1C'):
'''
Calculates gps velocity fix with WLS optimizer
returns:
0 -> list with velocities
1 -> pseudorange_rate errs
'''
import scipy.optimize as opt # Only use scipy here
n = len(measurements)
if n < 6:
return []
Fx_vel = prr_residual(measurements, est_pos, signal=signal, no_weight=no_weight, no_nans=True)
opt_vel = opt.least_squares(Fx_vel, v0).x
return opt_vel, Fx_vel(opt_vel, no_weight=True)
def pr_residual(measurements: List[GNSSMeasurement], signal='C1C', no_weight=False, no_nans=False):
# solve for pos
def Fx_pos(xxx_todo_changeme, no_weight=no_weight):
(x, y, z, bc, bg) = xxx_todo_changeme
rows = []
for meas in measurements:
if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]):
pr = meas.observables_final[signal]
sat_pos = meas.sat_pos_final
theta = 0
elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed:
pr = meas.observables[signal]
pr += meas.sat_clock_err * constants.SPEED_OF_LIGHT
sat_pos = meas.sat_pos
theta = constants.EARTH_ROTATION_RATE * (pr - bc) / constants.SPEED_OF_LIGHT
else:
if not no_nans:
rows.append(np.nan)
continue
if no_weight:
weight = 1
else:
weight = (1 / meas.observables_std[signal])
val = np.sqrt(
(sat_pos[0] * np.cos(theta) + sat_pos[1] * np.sin(theta) - x) ** 2 +
(sat_pos[1] * np.cos(theta) - sat_pos[0] * np.sin(theta) - y) ** 2 +
(sat_pos[2] - z) ** 2
)
if meas.constellation_id == ConstellationId.GLONASS:
rows.append(weight * (val - (pr - bc - bg)))
elif meas.constellation_id == ConstellationId.GPS:
rows.append(weight * (val - (pr - bc)))
return rows
return Fx_pos
def prr_residual(measurements, est_pos, signal='D1C', no_weight=False, no_nans=False):
# solve for vel
def Fx_vel(vel, no_weight=no_weight):
rows = []
for meas in measurements:
if signal not in meas.observables or not np.isfinite(meas.observables[signal]):
if not no_nans:
rows.append(np.nan)
continue
if meas.corrected:
sat_pos = meas.sat_pos_final
else:
sat_pos = meas.sat_pos
if no_weight:
weight = 1
else:
weight = (1 / meas.observables[signal])
los_vector = (sat_pos - est_pos[0:3]
) / np.linalg.norm(sat_pos - est_pos[0:3])
rows.append(
weight * ((meas.sat_vel - vel[0:3]).dot(los_vector) -
(meas.observables[signal] - vel[3])))
return rows
return Fx_vel
def get_Q(recv_pos, sat_positions):
local = LocalCoord.from_ecef(recv_pos)
sat_positions_rel = local.ecef2ned(sat_positions)
laika/trop.py
+1 -1
View File
@@ -16,7 +16,7 @@ def saast(pos, el, humi=0.75, temp0=15.0):
:return: tropospheric delay (m)
"""
pos_rad = ecef2geodetic(pos, radians=True)
if pos_rad[2] < -100.0 or 1E4 < pos_rad[2] or el <= 0:
if pos_rad[2] < -1E3 or 1E4 < pos_rad[2] or el <= 0:
return 0.0
# /* standard atmosphere */
opendbc/Dockerfile
+3 -1
View File
@@ -46,7 +46,9 @@ ENV PYTHONPATH=/project
WORKDIR /project
# TODO: Add tag to cereal
RUN git clone https://github.com/commaai/cereal.git /project/cereal && cd /project/cereal && git checkout d46f37c314bb92306207db44693b2f58c31f66b9
RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
cd /project/cereal && \
git checkout 959ff79963b80829be9902d146c31fda44dbbd20
COPY SConstruct .
COPY ./site_scons /project/site_scons
opendbc/can/common.h
+5 -2
View File
@@ -1,10 +1,11 @@
#pragma once
#include <vector>
#include <map>
#include <string>
#include <utility>
#include <unordered_map>
#include <vector>
#include "common_dbc.h"
#include <capnp/dynamic.h>
#include <capnp/serialize.h>
@@ -12,6 +13,8 @@
#include "cereal/gen/cpp/log.capnp.h"
#endif
#include "opendbc/can/common_dbc.h"
#define INFO printf
#define WARN printf
#define DEBUG(...)
opendbc/can/common.pxd
+1
View File
@@ -61,6 +61,7 @@ cdef extern from "common_dbc.h":
cdef struct SignalValue:
uint32_t address
uint64_t ts_nanos
string name
double value
vector[double] all_values
opendbc/can/common_dbc.h
+1
View File
@@ -24,6 +24,7 @@ struct MessageParseOptions {
struct SignalValue {
uint32_t address;
uint64_t ts_nanos;
std::string name;
double value; // latest value
std::vector<double> all_values; // all values from this cycle
opendbc/can/libdbc.so
BIN
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opendbc/can/packer.py
+1 -2
View File
@@ -1,3 +1,2 @@
# pylint: skip-file
from opendbc.can.packer_pyx import CANPacker
from opendbc.can.packer_pyx import CANPacker # pylint: disable=no-name-in-module, import-error
assert CANPacker
opendbc/can/packer_pyx.so
BIN
View File
Binary file not shown.
opendbc/can/parser_pyx.cpp
+730 -558
View File
File diff suppressed because it is too large Load Diff
opendbc/can/parser_pyx.so
BIN
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opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
+1
View File
@@ -81,6 +81,7 @@ BO_ 544 EPS_2: 8 XXX
SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
opendbc/chrysler_ram_dt_generated.dbc
+1
View File
@@ -83,6 +83,7 @@ BO_ 49 EPS_2: 8 XXX
SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
opendbc/chrysler_ram_hd_generated.dbc
+1
View File
@@ -83,6 +83,7 @@ BO_ 544 EPS_2: 8 XXX
SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
opendbc/ford_lincoln_base_pt.dbc
+1 -1
View File
@@ -153,7 +153,7 @@ VAL_TABLE_ ChrgCordLck_D_Stat 7 "Faulty" 6 "LockFail" 5 "UnlockFail" 4 "LockInPr
VAL_TABLE_ LkaActvStats_D2_Req 7 "NotUsed" 6 "LkaIncrIntervRight" 5 "LkaSupprRight" 4 "LkaStandIntervRight" 3 "LkaSupprLeft" 2 "LkaStandIntervLeft" 1 "LkaIncrIntervLeft" 0 "LkaNoInterv";
VAL_TABLE_ OffOnNoDataFaulty 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off";
VAL_TABLE_ NoMessage_Msg1_3 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage";
VAL_TABLE_ TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park";
VAL_TABLE_ TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park";
VAL_TABLE_ PrkBrkActv_D_RqGsmGear 3 "NotUsed" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "Null";
VAL_TABLE_ TrnPrkSys_D_Actl 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "FrequencyError" 8 "OutOfRangeHigh" 7 "OutOfRangeLow" 6 "Override" 5 "OutOfPark" 4 "TransitionCloseToOutOfPark" 3 "AtNoSpring" 2 "TransitionCloseToPark" 1 "Park" 0 "NotKnown";
VAL_TABLE_ OKLowUnknownInvalid 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK";
opendbc/generator/chrysler/_stellantis_common.dbc
+1
View File
@@ -77,6 +77,7 @@ BO_ 544 EPS_2: 8 XXX
SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
opendbc/generator/generator.py
+3 -3
View File
@@ -10,12 +10,12 @@ include_pattern = re.compile(r'CM_ "IMPORT (.*?)";\n')
generated_suffix = '_generated.dbc'
def read_dbc(src_dir, filename):
def read_dbc(src_dir: str, filename: str) -> str:
with open(os.path.join(src_dir, filename)) as file_in:
return file_in.read()
def create_dbc(src_dir, filename, output_path):
def create_dbc(src_dir: str, filename: str, output_path: str):
dbc_file_in = read_dbc(src_dir, filename)
includes = include_pattern.findall(dbc_file_in)
@@ -39,7 +39,7 @@ def create_dbc(src_dir, filename, output_path):
dbc_file_out.write(core_dbc)
def create_all(output_path):
def create_all(output_path: str):
# clear out old DBCs
for f in glob.glob(f"{output_path}/*{generated_suffix}"):
os.remove(f)
opendbc/generator/gm/gm_global_a_powertrain.dbc
+9
View File
@@ -174,6 +174,13 @@ BO_ 532 BRAKE_RELATED: 6 XXX
BO_ 560 EPBStatus: 8 EPB
SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO
BO_ 562 EBCMFrictionBrakeStatus: 8 XXX
SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
BO_ 608 SPEED_RELATED: 8 XXX
SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO
SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO
@@ -287,9 +294,11 @@ CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
CM_ SG_ 352 Ignition "Non-zero when ignition is on";
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
BA_DEF_ "UseGMParameterIDs" INT 0 0;
opendbc/generator/honda/honda_civic_ex_2022_can.dbc
+2 -2
View File
@@ -21,7 +21,7 @@ BO_ 432 STANDSTILL: 7 VSA
BO_ 456 ACC_CONTROL: 8 XXX
SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX
SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
@@ -70,7 +70,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
CM_ BO_ 456 "not sure which bit enables cruise";
CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
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";
opendbc/generator/toyota/_toyota_2017.dbc
+2 -3
View File
@@ -61,7 +61,7 @@ BO_ 180 SPEED: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
@@ -335,8 +335,7 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 BLINKERS_STATE: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
opendbc/gm_global_a_powertrain_generated.dbc
+9
View File
@@ -194,6 +194,13 @@ BO_ 532 BRAKE_RELATED: 6 XXX
BO_ 560 EPBStatus: 8 EPB
SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO
BO_ 562 EBCMFrictionBrakeStatus: 8 XXX
SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
BO_ 608 SPEED_RELATED: 8 XXX
SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO
SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO
@@ -307,9 +314,11 @@ CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
CM_ SG_ 352 Ignition "Non-zero when ignition is on";
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
BA_DEF_ "UseGMParameterIDs" INT 0 0;
opendbc/honda_civic_ex_2022_can_generated.dbc
+2 -2
View File
@@ -447,7 +447,7 @@ BO_ 432 STANDSTILL: 7 VSA
BO_ 456 ACC_CONTROL: 8 XXX
SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX
SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
@@ -496,7 +496,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
CM_ BO_ 456 "not sure which bit enables cruise";
CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
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";
opendbc/honda_odyssey_hybrid_2022_china_can_generated.dbc
+382
View File
@@ -0,0 +1,382 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
CM_ "Imported file _comma.dbc starts here";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
CM_ "Imported file _honda_common.dbc starts here";
BO_ 304 GAS_PEDAL_2: 8 PCM
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 316 GAS_PEDAL: 8 PCM
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 344 ENGINE_DATA: 8 PCM
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 380 POWERTRAIN_DATA: 8 PCM
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 420 VSA_STATUS: 8 VSA
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
BO_ 464 WHEEL_SPEEDS: 8 VSA
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 773 SEATBELT_STATUS: 7 BDY
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
BO_ 777 CAR_SPEED: 8 PCM
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
BO_ 780 ACC_HUD: 8 ADAS
SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY
SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
BO_ 804 CRUISE: 8 PCM
SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 884 STALK_STATUS: 8 XXX
SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 891 STALK_STATUS_2: 8 XXX
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 1029 DOORS_STATUS: 8 BDY
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
CM_ SG_ 304 "Seems to be platform-agnostic";
CM_ SG_ 316 "Should exist on Nidec";
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
CM_ SG_ 780 PCM_SPEED "Used by Nidec";
CM_ SG_ 780 PCM_GAS "Used by Nidec";
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
CM_ "Imported file _nidec_common.dbc starts here";
BO_ 145 KINEMATICS: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 148 KINEMATICS_ALT: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
BO_ 432 STANDSTILL: 7 VSA
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
BO_ 487 BRAKE_PRESSURE: 4 VSA
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 829 LKAS_HUD: 5 ADAS
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
BO_ 892 CRUISE_PARAMS: 8 PCM
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec";
CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec";
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
CM_ "Imported file _steering_sensors_b.dbc starts here";
BO_ 342 STEERING_SENSORS: 6 EPS
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
CM_ "honda_odyssey_hybrid_2022_china_can.dbc starts here";
BO_ 388 BRAKE_ERROR: 8 XXX
SG_ BRAKE_ERROR_1 : 32|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_2 : 34|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 399 STEER_STATUS: 7 EPS
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
BO_ 404 STEERING_CONTROL: 4 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
BO_ 419 GEARBOX: 8 PCM
SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 422 SCM_BUTTONS: 8 SCM
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 450 EPB_STATUS: 8 XXX
SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
BO_ 545 ECON_STATUS: 6 XXX
SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
BO_ 660 SCM_FEEDBACK: 8 SCM
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 927 RADAR_HUD: 8 ADAS
SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
BO_ 1302 ODOMETER: 8 XXX
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
CM_ SG_ 419 GEAR "10 = reverse, 1 = transition";
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
opendbc/hyundai_canfd.dbc
+8 -3
View File
@@ -86,6 +86,11 @@ BO_ 101 BRAKE: 32 XXX
SG_ BRAKE_POSITION : 40|16@1- (1,0) [0|65535] "" XXX
SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX
BO_ 112 GEAR_ALT_2: 32 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ GEAR : 60|3@1+ (1,0) [0|7] "" 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
@@ -212,7 +217,6 @@ BO_ 416 SCC_CONTROL: 32 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_8 : 170|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_10 : 156|5@0+ (1,0) [0|3] "" XXX
SG_ ZEROS : 215|48@0+ (1,0) [0|281474976710655] "" XXX
SG_ ZEROS_3 : 191|7@0+ (1,0) [0|127] "" XXX
SG_ ZEROS_4 : 183|4@0+ (1,0) [0|63] "" XXX
@@ -237,7 +241,6 @@ BO_ 416 SCC_CONTROL: 32 ADRV
SG_ aReqRaw : 140|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_4 : 158|2@0+ (1,0) [0|3] "" XXX
SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_12 : 35|9@1+ (0.1,0) [0|255] "" XXX
SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX
@@ -245,6 +248,7 @@ BO_ 416 SCC_CONTROL: 32 ADRV
SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ VSetDis : 103|8@0+ (1,0) [0|255] "km/h or mph" XXX
SG_ MainMode_ACC : 66|1@1+ (1,0) [0|1] "" XXX
SG_ JerkUpperLimit : 158|7@0+ (0.1,0) [0|0] "" XXX
BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -529,7 +533,7 @@ BO_ 485 BLINDSPOTS_FRONT_CORNER_1: 16 XXX
SG_ NEW_SIGNAL_3 : 88|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_4 : 80|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_5 : 31|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_6 : 24|1@0+ (1,0) [0|1] "" XXX
SG_ REVERSING : 24|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_7 : 32|2@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_8 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_9 : 55|8@0+ (1,0) [0|255] "" XXX
@@ -563,6 +567,7 @@ CM_ SG_ 1043 COUNTER_ALT "only increments on change";
VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
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_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ;
opendbc/mazda_2017.dbc
+23 -8
View File
@@ -167,6 +167,21 @@ BO_ 581 CAM_IDK3: 8 XXX
SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 585 CAM_LKAS2: 8 XXX
SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
SG_ CHKSUM : 19|12@0+ (1,-2048) [0|2048] "" XXX
SG_ KEY : 39|32@0+ (1,0) [3294744159|3294744161] "" XXX
BO_ 586 TI_FEEDBACK: 8 XXX
SG_ TI_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX
SG_ CHKSUM : 15|8@0+ (1,-127) [-127|128] "" XXX
SG_ VERSION_NUMBER : 23|8@0+ (1,0) [0|255] "" XXX
SG_ STATE : 31|8@0+ (1,0) [0|3] "" XXX
SG_ VIOL : 39|8@0+ (1,0) [0|255] "" XXX
SG_ ERROR : 47|8@0+ (1,0) [0|255] "" XXX
SG_ RAMP_DOWN : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SPARE : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
@@ -352,12 +367,10 @@ BO_ 130 STEER: 8 XXX
SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 120 BRAKE: 8 XXX
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX
SG_ VEHICLE_ACC_X : 5|13@0+ (0.01,-40) [-40|40] "m/s^2" XXX
SG_ VEHICLE_ACC_Y : 8|13@0+ (0.001,-4.096) [-4.096|4.096] "m/s^2" XXX
BO_ 304 GEAR_RELATED: 8 XXX
SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
@@ -556,8 +569,6 @@ BO_ 535 CURVE_CTRS: 8 XXX
BO_ 540 CRZ_CTRL: 8 XXX
SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
@@ -565,13 +576,13 @@ BO_ 540 CRZ_CTRL: 8 XXX
SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX
SG_ MSG_1_INV : 1|1@0+ (1,0) [0|1] "" XXX
SG_ MSG_1_COPY : 9|1@0+ (1,0) [0|1] "" XXX
SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
SG_ ACC_ACTIVE_2 : 52|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
SG_ MSG_1 : 0|1@0+ (1,0) [0|3] "" XXX
SG_ 5_SEC_DISABLE_TIMER : 45|3@0+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_3 : 13|1@0+ (1,0) [0|3] "" XXX
SG_ MSG_1_INV_COPY : 8|1@0+ (1,0) [0|7] "" XXX
SG_ RADAR_HAS_LEAD : 23|1@0+ (1,0) [0|1] "" XXX
SG_ RADAR_LEAD_RELATIVE_DISTANCE : 31|3@0+ (1,0) [0|5] "" XXX
BO_ 539 CRZ_INFO: 8 XXX
SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
@@ -765,6 +776,8 @@ CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
CM_ SG_ 1157 WARNING "1 Rare, 0 often";
CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
CM_ SG_ 120 VEHICLE_ACC_X "Vehicle acceleration of X-axis wrt. NED frame.";
CM_ SG_ 120 VEHICLE_ACC_Y "Vehicle acceleration of Y-axis wrt. NED frame.";
CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled TURN it OFF ";
CM_ SG_ 552 MORE_GEAR "";
CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
@@ -773,3 +786,5 @@ CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
CM_ SG_ 540 DISTANCE_SETTING "Radar distance 0: disabled, 1: 4 bars, 2: 3 bars, 3: 2 bars, 4: 1 bar";
CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
VAL_ 540 RADAR_HAS_LEAD 0 "NO LEAD" 1 "HAS LEAD" ;
VAL_ 540 RADAR_LEAD_RELATIVE_DISTANCE 0 "NO LEAD" 1 "FARTHEST" 2 "4" 3 "3" 4 "2" 5 "NEAREST" ;
opendbc/requirements.txt
+1 -1
View File
@@ -3,6 +3,6 @@ flake8==3.7.9
Jinja2==3.0.3
numpy==1.21.0
pycapnp==1.0.0
pylint==2.4.3
pylint==2.15.4
pyyaml==5.4
scons
opendbc/toyota_new_mc_pt_generated.dbc
+7 -3
View File
@@ -41,6 +41,11 @@ BO_ 767 SDSU: 8 XXX
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
BO_ 1880 DEBUG: 8 XXX
SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
CM_ "Imported file _toyota_2017.dbc starts here";
VERSION ""
@@ -106,7 +111,7 @@ BO_ 180 SPEED: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
@@ -380,8 +385,7 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 BLINKERS_STATE: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
opendbc/toyota_nodsu_pt_generated.dbc
+8 -3
View File
@@ -41,6 +41,12 @@ BO_ 767 SDSU: 8 XXX
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
BO_ 1880 DEBUG: 8 XXX
SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
CM_ "Imported file _toyota_2017.dbc starts here";
VERSION ""
@@ -106,7 +112,7 @@ BO_ 180 SPEED: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
@@ -381,8 +387,7 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 BLINKERS_STATE: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
opendbc/toyota_tnga_k_pt_generated.dbc
+7 -3
View File
@@ -41,6 +41,11 @@ BO_ 767 SDSU: 8 XXX
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
BO_ 1880 DEBUG: 8 XXX
SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
CM_ "Imported file _toyota_2017.dbc starts here";
VERSION ""
@@ -106,7 +111,7 @@ BO_ 180 SPEED: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
@@ -380,8 +385,7 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
BO_ 1553 UI_SETTING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
BO_ 1556 BLINKERS_STATE: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
panda/__init__.py
+4 -9
View File
@@ -1,10 +1,5 @@
from .python import (Panda, PandaDFU, # noqa: F401
BASEDIR, pack_can_buffer, unpack_can_buffer,
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC,
ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE)
from .python.constants import McuType, BASEDIR # noqa: F401
from .python.serial import PandaSerial # noqa: F401
from .python.config import (BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, # noqa: F401
BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, # noqa: F401
DEVICE_SERIAL_NUMBER_ADDR_FX)
from .python import (Panda, PandaDFU, # noqa: F401
pack_can_buffer, unpack_can_buffer, calculate_checksum,
DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE, CANPACKET_HEAD_SIZE)
panda/board/obj/bootstub.panda.bin
BIN
View File
Binary file not shown.
panda/board/obj/panda.bin.signed
BIN
View File
Binary file not shown.
panda/examples/query_fw_versions.py
+22 -11
View File
@@ -4,14 +4,15 @@ from tqdm import tqdm
from panda import Panda
from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE, DATA_IDENTIFIER_TYPE
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--rxoffset', default="")
parser.add_argument('--nonstandard', action='store_true')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--addr')
parser.add_argument('--bus')
parser.add_argument("--rxoffset", default="")
parser.add_argument("--nonstandard", action="store_true")
parser.add_argument("--no-obd", action="store_true", help="Bus 1 will not be multiplexed to the OBD-II port")
parser.add_argument("--debug", action="store_true")
parser.add_argument("--addr")
parser.add_argument("--bus")
parser.add_argument('-s', '--serial', help="Serial number of panda to use")
args = parser.parse_args()
if args.addr:
@@ -25,15 +26,25 @@ if __name__ == "__main__":
for std_id in DATA_IDENTIFIER_TYPE:
uds_data_ids[std_id.value] = std_id.name
if args.nonstandard:
for uds_id in range(0xf100,0xf180):
for uds_id in range(0xf100, 0xf180):
uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC_DATA_IDENTIFIER"
for uds_id in range(0xf1a0,0xf1f0):
for uds_id in range(0xf1a0, 0xf1f0):
uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC"
for uds_id in range(0xf1f0,0xf200):
for uds_id in range(0xf1f0, 0xf200):
uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_SYSTEM_SUPPLIER_SPECIFIC"
panda = Panda()
panda.set_safety_mode(Panda.SAFETY_ELM327)
panda_serials = Panda.list()
if args.serial is None and len(panda_serials) > 1:
print("\nMultiple pandas found, choose one:")
for serial in panda_serials:
with Panda(serial) as panda:
print(f" {serial}: internal={panda.is_internal()}")
print()
parser.print_help()
exit()
panda = Panda(serial=args.serial)
panda.set_safety_mode(Panda.SAFETY_ELM327, 1 if args.no_obd else 0)
print("querying addresses ...")
with tqdm(addrs) as t:
for addr in t:
panda/python/__init__.py
+244 -149
View File
@@ -5,18 +5,20 @@ import time
import usb1
import struct
import hashlib
import binascii
import datetime
import traceback
import warnings
import logging
from functools import wraps
from typing import Optional
from itertools import accumulate
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, SECTOR_SIZES_FX, SECTOR_SIZES_H7
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7
from .base import BaseHandle
from .constants import McuType
from .dfu import PandaDFU
from .isotp import isotp_send, isotp_recv
from .spi import SpiHandle
from .spi import PandaSpiHandle, PandaSpiException
from .usb import PandaUsbHandle
__version__ = '0.0.10'
@@ -24,55 +26,48 @@ __version__ = '0.0.10'
LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
logging.basicConfig(level=LOGLEVEL, format='%(message)s')
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEBUG = os.getenv("PANDADEBUG") is not None
CAN_TRANSACTION_MAGIC = struct.pack("<I", 0x43414E2F)
USBPACKET_MAX_SIZE = 0x40
CANPACKET_HEAD_SIZE = 0x5
CANPACKET_HEAD_SIZE = 0x6
DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
def calculate_checksum(data):
res = 0
for b in data:
res ^= b
return res
def pack_can_buffer(arr):
snds = [CAN_TRANSACTION_MAGIC]
snds = [b'']
for address, _, dat, bus in arr:
assert len(dat) in LEN_TO_DLC
#logging.debug(" W 0x%x: 0x%s", address, dat.hex())
extended = 1 if address >= 0x800 else 0
data_len_code = LEN_TO_DLC[len(dat)]
header = bytearray(5)
header = bytearray(CANPACKET_HEAD_SIZE)
word_4b = address << 3 | extended << 2
header[0] = (data_len_code << 4) | (bus << 1)
header[1] = word_4b & 0xFF
header[2] = (word_4b >> 8) & 0xFF
header[3] = (word_4b >> 16) & 0xFF
header[4] = (word_4b >> 24) & 0xFF
header[5] = calculate_checksum(header[:5] + dat)
snds[-1] += header + dat
if len(snds[-1]) > 256: # Limit chunks to 256 bytes
snds.append(CAN_TRANSACTION_MAGIC)
snds.append(b'')
return snds
def unpack_can_buffer(dat):
ret = []
if len(dat) < len(CAN_TRANSACTION_MAGIC):
return ret
if dat[:len(CAN_TRANSACTION_MAGIC)] != CAN_TRANSACTION_MAGIC:
logging.error("CAN: recv didn't start with magic")
return ret
dat = dat[len(CAN_TRANSACTION_MAGIC):]
while len(dat) >= CANPACKET_HEAD_SIZE:
data_len = DLC_TO_LEN[(dat[0]>>4)]
header = dat[:CANPACKET_HEAD_SIZE]
dat = dat[CANPACKET_HEAD_SIZE:]
bus = (header[0] >> 1) & 0x7
address = (header[4] << 24 | header[3] << 16 | header[2] << 8 | header[1]) >> 3
@@ -84,17 +79,18 @@ def unpack_can_buffer(dat):
# rejected
bus += 192
data = dat[:data_len]
dat = dat[data_len:]
# we need more from the next transfer
if data_len > len(dat) - CANPACKET_HEAD_SIZE:
break
#logging.debug(" R 0x%x: 0x%s", address, data.hex())
assert calculate_checksum(dat[:(CANPACKET_HEAD_SIZE+data_len)]) == 0, "CAN packet checksum incorrect"
data = dat[CANPACKET_HEAD_SIZE:(CANPACKET_HEAD_SIZE+data_len)]
dat = dat[(CANPACKET_HEAD_SIZE+data_len):]
ret.append((address, 0, data, bus))
if len(dat) > 0:
logging.error("CAN: malformed packet. leftover data")
return ret
return (ret, dat)
def ensure_health_packet_version(fn):
@wraps(fn)
@@ -162,8 +158,6 @@ class Panda:
SAFETY_FAW = 26
SAFETY_BODY = 27
SAFETY_HYUNDAI_CANFD = 28
SAFETY_VOLVO_C1 = 29
SAFETY_VOLVO_EUCD = 30
SERIAL_DEBUG = 0
SERIAL_ESP = 1
@@ -188,11 +182,14 @@ class Panda:
HW_TYPE_RED_PANDA_V2 = b'\x08'
HW_TYPE_TRES = b'\x09'
CAN_PACKET_VERSION = 3
CAN_PACKET_VERSION = 4
HEALTH_PACKET_VERSION = 11
CAN_HEALTH_PACKET_VERSION = 3
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBBB")
CAN_HEALTH_PACKET_VERSION = 4
# dp - 2 extra "B" at the end:
# "usb_power_mode": a[23],
# "torque_interceptor_detected": a[24],
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBBB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBB")
F2_DEVICES = (HW_TYPE_PEDAL, )
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
@@ -201,9 +198,6 @@ class Panda:
INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS)
HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
CLOCK_SOURCE_MODE_DISABLED = 0
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
# first byte is for EPS scaling factor
FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
@@ -234,47 +228,96 @@ class Panda:
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
def __init__(self, serial: Optional[str] = None, claim: bool = True, spi: bool = False, disable_checks: bool = True):
self._serial = serial
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
self._connect_serial = serial
self._disable_checks = disable_checks
self._handle = None
self._bcd_device = None
self._handle: BaseHandle
self._handle_open = False
self.can_rx_overflow_buffer = b''
# connect and set mcu type
self._spi = spi
self.connect(claim)
# reset comms
self.can_reset_communications()
def __enter__(self):
return self
def __exit__(self, *args):
self.close()
def close(self):
self._handle.close()
self._handle = None
if self._handle_open:
self._handle.close()
self._handle_open = False
def connect(self, claim=True, wait=False):
if self._handle is not None:
self.close()
self._handle = None
self.close()
if self._spi:
self._handle = SpiHandle()
# try USB first, then SPI
self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim, wait=wait)
if self._handle is None:
self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
# TODO implement
self._serial = "SPIDEV"
self.bootstub = False
if self._handle is None:
raise Exception("failed to connect to panda")
else:
self.usb_connect(claim=claim, wait=wait)
# Some fallback logic to determine panda and MCU type for old bootstubs,
# since we now support multiple MCUs and need to know which fw to flash.
# Three cases to consider:
# A) oldest bootstubs don't have any way to distinguish
# MCU or panda type
# B) slightly newer (~2 weeks after first C3's built) bootstubs
# have the panda type set in the USB bcdDevice
# C) latest bootstubs also implement the endpoint for panda type
self._bcd_hw_type = None
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
missing_hw_type_endpoint = self.bootstub and ret.startswith(b'\xff\x00\xc1\x3e\xde\xad\xd0\x0d')
if missing_hw_type_endpoint and bcd is not None:
self._bcd_hw_type = bcd
assert self._handle is not None
# For case A, we assume F4 MCU type, since all H7 pandas should be case B at worst
self._assume_f4_mcu = (self._bcd_hw_type is None) and missing_hw_type_endpoint
self._serial = serial
self._connect_serial = serial
self._handle_open = True
self._mcu_type = self.get_mcu_type()
self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
print("connected")
logging.debug("connected")
# disable openpilot's heartbeat checks
if self._disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def usb_connect(self, claim=True, wait=False):
@staticmethod
def spi_connect(serial):
# get UID to confirm slave is present and up
handle = None
spi_serial = None
bootstub = None
try:
handle = PandaSpiHandle()
dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12, timeout=100)
spi_serial = binascii.hexlify(dat).decode()
bootstub = Panda.flasher_present(handle)
except PandaSpiException:
pass
# no connection or wrong panda
if None in (spi_serial, bootstub) or (serial is not None and (spi_serial != serial)):
handle = None
spi_serial = None
bootstub = False
return handle, spi_serial, bootstub, None
@staticmethod
def usb_connect(serial, claim=True, wait=False):
handle, usb_serial, bootstub, bcd = None, None, None, None
context = usb1.USBContext()
while 1:
try:
@@ -284,30 +327,69 @@ class Panda:
this_serial = device.getSerialNumber()
except Exception:
continue
if self._serial is None or this_serial == self._serial:
self._serial = this_serial
print("opening device", self._serial, hex(device.getProductID()))
self.bootstub = device.getProductID() == 0xddee
self._handle = device.open()
if serial is None or this_serial == serial:
logging.debug("opening device %s %s", this_serial, hex(device.getProductID()))
usb_serial = this_serial
bootstub = device.getProductID() == 0xddee
handle = device.open()
if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
self._handle.setAutoDetachKernelDriver(True)
handle.setAutoDetachKernelDriver(True)
if claim:
self._handle.claimInterface(0)
# self._handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
handle.claimInterface(0)
# handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
# bcdDevice wasn't always set to the hw type, ignore if it's the old constant
bcd = device.getbcdDevice()
if bcd is not None and bcd != 0x2300:
self._bcd_device = bytearray([bcd >> 8, ])
this_bcd = device.getbcdDevice()
if this_bcd is not None and this_bcd != 0x2300:
bcd = bytearray([this_bcd >> 8, ])
break
except Exception as e:
print("exception", e)
traceback.print_exc()
if not wait or self._handle is not None:
except Exception:
logging.exception("USB connect error")
if not wait or handle is not None:
break
context = usb1.USBContext() # New context needed so new devices show up
usb_handle = None
if handle is not None:
usb_handle = PandaUsbHandle(handle)
return usb_handle, usb_serial, bootstub, bcd
@staticmethod
def list():
ret = Panda.usb_list()
ret += Panda.spi_list()
return list(set(ret))
@staticmethod
def usb_list():
context = usb1.USBContext()
ret = []
try:
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
try:
serial = device.getSerialNumber()
if len(serial) == 24:
ret.append(serial)
else:
warnings.warn(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
except Exception:
continue
except Exception:
pass
return ret
@staticmethod
def spi_list():
_, serial, _, _ = Panda.spi_connect(None)
if serial is not None:
return [serial, ]
return []
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
try:
if enter_bootloader:
@@ -323,7 +405,7 @@ class Panda:
self.reconnect()
def reconnect(self):
if self._handle is not None:
if self._handle_open:
self.close()
time.sleep(1.0)
@@ -335,7 +417,7 @@ class Panda:
success = True
break
except Exception:
print("reconnecting is taking %d seconds..." % (i + 1))
logging.debug("reconnecting is taking %d seconds...", i + 1)
try:
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
dfu.recover()
@@ -345,39 +427,41 @@ class Panda:
if not success:
raise Exception("reconnect failed")
@staticmethod
def flasher_present(handle: BaseHandle) -> bool:
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
return fr[4:8] == b"\xde\xad\xd0\x0d"
@staticmethod
def flash_static(handle, code, mcu_type):
assert mcu_type is not None, "must set valid mcu_type to flash"
# confirm flasher is present
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
assert fr[4:8] == b"\xde\xad\xd0\x0d"
assert Panda.flasher_present(handle)
# determine sectors to erase
apps_sectors_cumsum = accumulate(SECTOR_SIZES_H7[1:] if mcu_type == MCU_TYPE_H7 else SECTOR_SIZES_FX[1:])
apps_sectors_cumsum = accumulate(mcu_type.config.sector_sizes[1:])
last_sector = next((i + 1 for i, v in enumerate(apps_sectors_cumsum) if v > len(code)), -1)
assert last_sector >= 1, "Binary too small? No sector to erase."
assert last_sector < 7, "Binary too large! Risk of overwriting provisioning chunk."
# unlock flash
print("flash: unlocking")
logging.warning("flash: unlocking")
handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
# erase sectors
print(f"flash: erasing sectors 1 - {last_sector}")
logging.warning(f"flash: erasing sectors 1 - {last_sector}")
for i in range(1, last_sector + 1):
handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
# flash over EP2
STEP = 0x10
print("flash: flashing")
logging.warning("flash: flashing")
for i in range(0, len(code), STEP):
handle.bulkWrite(2, code[i:i + STEP])
# reset
print("flash: resetting")
logging.warning("flash: resetting")
try:
handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
except Exception:
@@ -385,9 +469,9 @@ class Panda:
def flash(self, fn=None, code=None, reconnect=True):
if not fn:
fn = DEFAULT_H7_FW_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_FW_FN
fn = self._mcu_type.config.app_path
assert os.path.isfile(fn)
print("flash: main version is " + self.get_version())
logging.debug("flash: main version is %s", self.get_version())
if not self.bootstub:
self.reset(enter_bootstub=True)
assert(self.bootstub)
@@ -397,7 +481,7 @@ class Panda:
code = f.read()
# get version
print("flash: bootstub version is " + self.get_version())
logging.debug("flash: bootstub version is %s", self.get_version())
# do flash
Panda.flash_static(self._handle, code, mcu_type=self._mcu_type)
@@ -428,30 +512,16 @@ class Panda:
def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
t_start = time.monotonic()
while dfu_serial not in PandaDFU.list():
print("waiting for DFU...")
logging.debug("waiting for DFU...")
time.sleep(0.1)
if timeout is not None and (time.monotonic() - t_start) > timeout:
return False
return True
@staticmethod
def list():
context = usb1.USBContext()
ret = []
try:
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
try:
serial = device.getSerialNumber()
if len(serial) == 24:
ret.append(serial)
else:
warnings.warn(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
except Exception:
continue
except Exception:
pass
return ret
def up_to_date(self) -> bool:
current = self.get_signature()
expected = Panda.get_signature_from_firmware(self.get_mcu_type().config.app_path)
return (current == expected)
def call_control_api(self, msg):
self._handle.controlWrite(Panda.REQUEST_OUT, msg, 0, 0, b'')
@@ -487,6 +557,7 @@ class Panda:
"fan_power": a[21],
"safety_rx_checks_invalid": a[22],
"usb_power_mode": a[23],
"torque_interceptor_detected": a[24],
}
@ensure_can_health_packet_version
@@ -520,11 +591,12 @@ class Panda:
"total_tx_cnt": a[13],
"total_rx_cnt": a[14],
"total_fwd_cnt": a[15],
"can_speed": a[16],
"can_data_speed": a[17],
"canfd_enabled": a[18],
"brs_enabled": a[19],
"canfd_non_iso": a[20],
"total_tx_checksum_error_cnt": a[16],
"can_speed": a[17],
"can_data_speed": a[18],
"canfd_enabled": a[19],
"brs_enabled": a[20],
"canfd_non_iso": a[21],
}
# ******************* control *******************
@@ -532,8 +604,8 @@ class Panda:
def enter_bootloader(self):
try:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'')
except Exception as e:
print(e)
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')
@@ -544,7 +616,7 @@ class Panda:
f.seek(-128, 2) # Seek from end of file
return f.read(128)
def get_signature(self):
def get_signature(self) -> bytes:
part_1 = self._handle.controlRead(Panda.REQUEST_IN, 0xd3, 0, 0, 0x40)
part_2 = self._handle.controlRead(Panda.REQUEST_IN, 0xd4, 0, 0, 0x40)
return bytes(part_1 + part_2)
@@ -552,10 +624,9 @@ class Panda:
def get_type(self):
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
# bootstub doesn't implement this call, so fallback to bcdDevice
invalid_type = self.bootstub and (ret is None or len(ret) != 1)
if invalid_type and self._bcd_device is not None:
ret = self._bcd_device
# old bootstubs don't implement this endpoint, see comment in Panda.device
if self._bcd_hw_type is not None and (ret is None or len(ret) != 1):
ret = self._bcd_hw_type
return ret
@@ -568,15 +639,20 @@ class Panda:
else:
return (0, 0, 0)
def get_mcu_type(self):
def get_mcu_type(self) -> McuType:
hw_type = self.get_type()
if hw_type in Panda.F2_DEVICES:
return MCU_TYPE_F2
return McuType.F2
elif hw_type in Panda.F4_DEVICES:
return MCU_TYPE_F4
return McuType.F4
elif hw_type in Panda.H7_DEVICES:
return MCU_TYPE_H7
return None
return McuType.H7
else:
# have to assume F4, see comment in Panda.connect
if self._assume_f4_mcu:
return McuType.F4
raise ValueError(f"unknown HW type: {hw_type}")
def has_obd(self):
return self.get_type() in Panda.HAS_OBD
@@ -585,14 +661,28 @@ class Panda:
return self.get_type() in Panda.INTERNAL_DEVICES
def get_serial(self):
"""
Returns the comma-issued dongle ID from our provisioning
"""
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
assert(hashsig == calc_hash)
return [dat[0:0x10].decode("utf8"), dat[0x10:0x10 + 10].decode("utf8")]
def get_usb_serial(self):
"""
Returns the serial number reported from the USB descriptor;
matches the MCU UID
"""
return self._serial
def get_uid(self):
"""
Returns the UID from the MCU
"""
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12)
return binascii.hexlify(dat).decode()
def get_secret(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
@@ -659,6 +749,9 @@ class Panda:
# Timeout is in ms. If set to 0, the timeout is infinite.
CAN_SEND_TIMEOUT_MS = 10
def can_reset_communications(self):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'')
@ensure_can_packet_version
def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
snds = pack_can_buffer(arr)
@@ -670,10 +763,10 @@ class Panda:
tx = tx[bs:]
if len(tx) == 0:
break
print("CAN: PARTIAL SEND MANY, RETRYING")
logging.error("CAN: PARTIAL SEND MANY, RETRYING")
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD SEND MANY, RETRYING")
logging.error("CAN: BAD SEND MANY, RETRYING")
def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
@@ -686,9 +779,10 @@ class Panda:
dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD RECV, RETRYING")
logging.error("CAN: BAD RECV, RETRYING")
time.sleep(0.1)
return unpack_can_buffer(dat)
msgs, self.can_rx_overflow_buffer = unpack_can_buffer(self.can_rx_overflow_buffer + dat)
return msgs
def can_clear(self, bus):
"""Clears all messages from the specified internal CAN ringbuffer as
@@ -722,8 +816,10 @@ class Panda:
def serial_write(self, port_number, ln):
ret = 0
if type(ln) == str:
ln = bytes(ln, 'utf-8')
for i in range(0, len(ln), 0x20):
ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + bytes(ln[i:i + 0x20], 'utf-8'))
ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
return ret
def serial_clear(self, port_number):
@@ -741,19 +837,15 @@ class Panda:
# pulse low for wakeup
def kline_wakeup(self, k=True, l=True):
assert k or l, "must specify k-line, l-line, or both"
if DEBUG:
print("kline wakeup...")
logging.debug("kline wakeup...")
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 2 if k and l else int(l), 0, b'')
if DEBUG:
print("kline wakeup done")
logging.debug("kline wakeup done")
def kline_5baud(self, addr, k=True, l=True):
assert k or l, "must specify k-line, l-line, or both"
if DEBUG:
print("kline 5 baud...")
logging.debug("kline 5 baud...")
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, 2 if k and l else int(l), addr, b'')
if DEBUG:
print("kline 5 baud done")
logging.debug("kline 5 baud done")
def kline_drain(self, bus=2):
# drain buffer
@@ -762,8 +854,7 @@ class Panda:
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
if len(ret) == 0:
break
elif DEBUG:
print(f"kline drain: 0x{ret.hex()}")
logging.debug(f"kline drain: 0x{ret.hex()}")
bret += ret
return bytes(bret)
@@ -771,8 +862,8 @@ class Panda:
echo = bytearray()
while len(echo) != cnt:
ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt - len(echo))
if DEBUG and len(ret) > 0:
print(f"kline recv: 0x{ret.hex()}")
if len(ret) > 0:
logging.debug(f"kline recv: 0x{ret.hex()}")
echo += ret
return bytes(echo)
@@ -782,14 +873,13 @@ class Panda:
x += bytes([sum(x) % 0x100])
for i in range(0, len(x), 0xf):
ts = x[i:i + 0xf]
if DEBUG:
print(f"kline send: 0x{ts.hex()}")
logging.debug(f"kline send: 0x{ts.hex()}")
self._handle.bulkWrite(2, bytes([bus]) + ts)
echo = self.kline_ll_recv(len(ts), bus=bus)
if echo != ts:
print(f"**** ECHO ERROR {i} ****")
print(f"0x{echo.hex()}")
print(f"0x{ts.hex()}")
logging.error(f"**** ECHO ERROR {i} ****")
logging.error(f"0x{echo.hex()}")
logging.error(f"0x{ts.hex()}")
assert echo == ts
def kline_recv(self, bus=2, header_len=4):
@@ -822,6 +912,11 @@ class Panda:
a = struct.unpack("HBBBBBB", dat)
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
# ****************** Timer *****************
def get_microsecond_timer(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa8, 0, 0, 4)
return struct.unpack("I", dat)[0]
# ******************* IR *******************
def set_ir_power(self, percentage):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb0, int(percentage), 0, b'')
@@ -839,10 +934,10 @@ class Panda:
def set_phone_power(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'')
# ************** Clock Source **************
def set_clock_source_mode(self, mode):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf5, int(mode), 0, b'')
# ****************** Siren *****************
def set_siren(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
# ****************** Debug *****************
def set_green_led(self, enabled):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
panda/python/base.py
+67
View File
@@ -0,0 +1,67 @@
from abc import ABC, abstractmethod
from typing import List
from .constants import McuType
TIMEOUT = int(15 * 1e3) # default timeout, in milliseconds
class BaseHandle(ABC):
"""
A handle to talk to a panda.
Borrows heavily from the libusb1 handle API.
"""
@abstractmethod
def close(self) -> None:
...
@abstractmethod
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT) -> int:
...
@abstractmethod
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT) -> bytes:
...
@abstractmethod
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
...
@abstractmethod
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
...
class BaseSTBootloaderHandle(ABC):
"""
A handle to talk to a panda while it's in the STM32 bootloader.
"""
@abstractmethod
def get_mcu_type(self) -> McuType:
...
@abstractmethod
def close(self) -> None:
...
@abstractmethod
def clear_status(self) -> None:
...
@abstractmethod
def program(self, address: int, dat: bytes) -> None:
...
@abstractmethod
def erase_app(self) -> None:
...
@abstractmethod
def erase_bootstub(self) -> None:
...
@abstractmethod
def jump(self, address: int) -> None:
...
panda/python/ccp.py
+6 -6
View File
@@ -100,9 +100,9 @@ class CcpClient():
msgs = self._panda.can_recv() or []
if len(msgs) >= 256:
print("CAN RX buffer overflow!!!", file=sys.stderr)
for rx_addr, _, rx_data, rx_bus in msgs:
for rx_addr, _, rx_data_bytearray, rx_bus in msgs:
if rx_bus == self.can_bus and rx_addr == self.rx_addr:
rx_data = bytes(rx_data) # convert bytearray to bytes
rx_data = bytes(rx_data_bytearray)
if self.debug:
print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
assert len(rx_data) == 8, f"message length not 8: {len(rx_data)}"
@@ -183,7 +183,7 @@ class CcpClient():
resp = self._recv_dto(0.025)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
return mta_addr # type: ignore
def download_6_bytes(self, data: bytes) -> int:
if len(data) != 6:
@@ -192,7 +192,7 @@ class CcpClient():
resp = self._recv_dto(0.025)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
return mta_addr # type: ignore
def upload(self, size: int) -> bytes:
if size > 5:
@@ -296,7 +296,7 @@ class CcpClient():
resp = self._recv_dto(0.1)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
return mta_addr # type: ignore
def program_6_bytes(self, data: bytes) -> int:
if len(data) != 6:
@@ -305,7 +305,7 @@ class CcpClient():
resp = self._recv_dto(0.1)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
return mta_addr # type: ignore
def move_memory_block(self, size: int) -> None:
self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size))
panda/python/constants.py
+57
View File
@@ -0,0 +1,57 @@
import os
import enum
from typing import List, NamedTuple
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
class McuConfig(NamedTuple):
mcu: str
mcu_idcode: int
uid_address: int
block_size: int
sector_sizes: List[int]
serial_number_address: int
app_address: int
app_path: str
bootstub_address: int
bootstub_path: str
Fx = (
0x1FFF7A10,
0x800,
[0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
0x1FFF79C0,
0x8004000,
os.path.join(BASEDIR, "board", "obj", "panda.bin.signed"),
0x8000000,
os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin"),
)
F2Config = McuConfig("STM32F2", 0x411, *Fx)
F4Config = McuConfig("STM32F4", 0x463, *Fx)
H7Config = McuConfig(
"STM32H7",
0x483,
0x1FF1E800,
0x400,
# there is an 8th sector, but we use that for the provisioning chunk, so don't program over that!
[0x20000 for _ in range(7)],
0x080FFFC0,
0x8020000,
os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed"),
0x8000000,
os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin"),
)
@enum.unique
class McuType(enum.Enum):
F2 = F2Config
F4 = F4Config
H7 = H7Config
@property
def config(self):
return self.value
MCU_TYPE_BY_IDCODE = {m.config.mcu_idcode: m for m in McuType}
panda/python/dfu.py
+71 -78
View File
@@ -1,22 +1,31 @@
import usb1
import struct
import binascii
from .config import BOOTSTUB_ADDRESS, APP_ADDRESS_H7, APP_ADDRESS_FX, BLOCK_SIZE_H7, BLOCK_SIZE_FX, DEFAULT_H7_BOOTSTUB_FN, DEFAULT_BOOTSTUB_FN
from typing import List, Optional
from .base import BaseSTBootloaderHandle
from .spi import STBootloaderSPIHandle, PandaSpiException
from .usb import STBootloaderUSBHandle
from .constants import McuType
MCU_TYPE_F2 = 0
MCU_TYPE_F4 = 1
MCU_TYPE_H7 = 2
class PandaDFU:
def __init__(self, dfu_serial: Optional[str]):
# try USB, then SPI
handle: Optional[BaseSTBootloaderHandle]
handle = PandaDFU.usb_connect(dfu_serial)
if handle is None:
handle = PandaDFU.spi_connect(dfu_serial)
# *** DFU mode ***
DFU_DNLOAD = 1
DFU_UPLOAD = 2
DFU_GETSTATUS = 3
DFU_CLRSTATUS = 4
DFU_ABORT = 6
if handle is None:
raise Exception(f"failed to open DFU device {dfu_serial}")
class PandaDFU(object):
def __init__(self, dfu_serial):
self._handle: BaseSTBootloaderHandle = handle
self._mcu_type: McuType = self._handle.get_mcu_type()
@staticmethod
def usb_connect(dfu_serial: Optional[str]) -> Optional[STBootloaderUSBHandle]:
handle = None
context = usb1.USBContext()
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11:
@@ -24,14 +33,37 @@ class PandaDFU(object):
this_dfu_serial = device.open().getASCIIStringDescriptor(3)
except Exception:
continue
if this_dfu_serial == dfu_serial or dfu_serial is None:
self._mcu_type = self.get_mcu_type(device)
self._handle = device.open()
return
raise Exception("failed to open " + dfu_serial if dfu_serial is not None else "DFU device")
handle = STBootloaderUSBHandle(device, device.open())
break
return handle
@staticmethod
def list():
def spi_connect(dfu_serial: Optional[str]) -> Optional[STBootloaderSPIHandle]:
handle = None
this_dfu_serial = None
try:
handle = STBootloaderSPIHandle()
this_dfu_serial = PandaDFU.st_serial_to_dfu_serial(handle.get_uid(), handle.get_mcu_type())
except PandaSpiException:
handle = None
if dfu_serial is not None and dfu_serial != this_dfu_serial:
handle = None
return handle
@staticmethod
def list() -> List[str]:
ret = PandaDFU.usb_list()
ret += PandaDFU.spi_list()
return list(set(ret))
@staticmethod
def usb_list() -> List[str]:
context = usb1.USBContext()
dfu_serials = []
try:
@@ -46,80 +78,41 @@ class PandaDFU(object):
return dfu_serials
@staticmethod
def st_serial_to_dfu_serial(st, mcu_type=MCU_TYPE_F4):
def spi_list() -> List[str]:
try:
h = PandaDFU.spi_connect(None)
if h is not None:
dfu_serial = PandaDFU.st_serial_to_dfu_serial(h.get_uid(), h.get_mcu_type())
return [dfu_serial, ]
except PandaSpiException:
pass
return []
@staticmethod
def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.F4):
if st is None or st == "none":
return None
uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
if mcu_type == MCU_TYPE_H7:
if mcu_type == McuType.H7:
return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
else:
return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
# TODO: Find a way to detect F4 vs F2
def get_mcu_type(self, dev):
return MCU_TYPE_H7 if dev.getbcdDevice() == 512 else MCU_TYPE_F4
def get_mcu_type(self) -> McuType:
return self._mcu_type
def status(self):
while 1:
dat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
if dat[1] == 0:
break
def clear_status(self):
# Clear status
stat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
if stat[4] == 0xa:
self._handle.controlRead(0x21, DFU_CLRSTATUS, 0, 0, 0)
elif stat[4] == 0x9:
self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, b"")
self.status()
stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
def erase(self, address):
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
self.status()
def program(self, address, dat, block_size=None):
if block_size is None:
block_size = len(dat)
# Set Address Pointer
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
self.status()
# Program
dat += b"\xFF" * ((block_size - len(dat)) % block_size)
for i in range(0, len(dat) // block_size):
ldat = dat[i * block_size:(i + 1) * block_size]
print("programming %d with length %d" % (i, len(ldat)))
self._handle.controlWrite(0x21, DFU_DNLOAD, 2 + i, 0, ldat)
self.status()
def reset(self):
self._handle.jump(self._mcu_type.config.bootstub_address)
def program_bootstub(self, code_bootstub):
self.clear_status()
self.erase(BOOTSTUB_ADDRESS)
if self._mcu_type == MCU_TYPE_H7:
self.erase(APP_ADDRESS_H7)
self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_H7)
else:
self.erase(APP_ADDRESS_FX)
self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_FX)
self._handle.clear_status()
self._handle.erase_bootstub()
self._handle.erase_app()
self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
self.reset()
def recover(self):
fn = DEFAULT_H7_BOOTSTUB_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_BOOTSTUB_FN
with open(fn, "rb") as f:
with open(self._mcu_type.config.bootstub_path, "rb") as f:
code = f.read()
self.program_bootstub(code)
def reset(self):
# **** Reset ****
self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", BOOTSTUB_ADDRESS))
self.status()
try:
self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")
_ = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
except Exception:
pass
panda/python/spi.py
+257 -49
View File
@@ -1,9 +1,22 @@
import binascii
import os
import fcntl
import math
import time
import struct
import spidev
import logging
import threading
from contextlib import contextmanager
from functools import reduce
from typing import List
from typing import List, Optional
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
from .constants import McuType, MCU_TYPE_BY_IDCODE
try:
import spidev
except ImportError:
spidev = None
# Constants
SYNC = 0x5A
@@ -12,17 +25,69 @@ DACK = 0x85
NACK = 0x1F
CHECKSUM_START = 0xAB
MAX_RETRY_COUNT = 5
MIN_ACK_TIMEOUT_MS = 100
MAX_XFER_RETRY_COUNT = 5
USB_MAX_SIZE = 0x40
# This mimics the handle given by libusb1 for easy interoperability
class SpiHandle:
def __init__(self):
self.spi = spidev.SpiDev() # pylint: disable=c-extension-no-member
self.spi.open(0, 0)
DEV_PATH = "/dev/spidev0.0"
self.spi.max_speed_hz = 30000000
class PandaSpiException(Exception):
pass
class PandaSpiUnavailable(PandaSpiException):
pass
class PandaSpiNackResponse(PandaSpiException):
pass
class PandaSpiMissingAck(PandaSpiException):
pass
class PandaSpiBadChecksum(PandaSpiException):
pass
class PandaSpiTransferFailed(PandaSpiException):
pass
SPI_LOCK = threading.Lock()
class SpiDevice:
"""
Provides locked, thread-safe access to a panda's SPI interface.
"""
def __init__(self, speed=30000000):
if not os.path.exists(DEV_PATH):
raise PandaSpiUnavailable(f"SPI device not found: {DEV_PATH}")
if spidev is None:
raise PandaSpiUnavailable("spidev is not installed")
self._spidev = spidev.SpiDev() # pylint: disable=c-extension-no-member
self._spidev.open(0, 0)
self._spidev.max_speed_hz = speed
@contextmanager
def acquire(self):
try:
SPI_LOCK.acquire()
fcntl.flock(self._spidev, fcntl.LOCK_EX)
yield self._spidev
finally:
fcntl.flock(self._spidev, fcntl.LOCK_UN)
SPI_LOCK.release()
def close(self):
self._spidev.close()
class PandaSpiHandle(BaseHandle):
"""
A class that mimics a libusb1 handle for panda SPI communications.
"""
def __init__(self):
self.dev = SpiDevice()
# helpers
def _calc_checksum(self, data: List[int]) -> int:
@@ -31,75 +96,218 @@ class SpiHandle:
cksum ^= b
return cksum
def _transfer(self, endpoint: int, data, max_rx_len: int = 1000) -> bytes:
def _wait_for_ack(self, spi, ack_val: int, timeout: int) -> None:
timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3
start = time.monotonic()
while (timeout == 0) or ((time.monotonic() - start) < timeout_s):
dat = spi.xfer2(b"\x12")[0]
if dat == NACK:
raise PandaSpiNackResponse
elif dat == ack_val:
return
raise PandaSpiMissingAck
def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000) -> bytes:
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
logging.debug("==============================================")
for n in range(MAX_RETRY_COUNT):
exc = PandaSpiException()
for n in range(MAX_XFER_RETRY_COUNT):
logging.debug("\ntry #%d", n+1)
try:
logging.debug("- send header")
packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
self.spi.xfer2(packet)
spi.xfer2(packet)
logging.debug("- waiting for ACK")
# TODO: add timeout?
dat = b"\x00"
while dat[0] not in [HACK, NACK]:
dat = self.spi.xfer2(b"\x12")
if dat[0] == NACK:
raise Exception("Got NACK response for header")
logging.debug("- waiting for header ACK")
self._wait_for_ack(spi, HACK, timeout)
# send data
logging.debug("- sending data")
packet = bytes([*data, self._calc_checksum(data)])
self.spi.xfer2(packet)
spi.xfer2(packet)
logging.debug("- waiting for ACK")
dat = b"\x00"
while dat[0] not in [DACK, NACK]:
dat = self.spi.xfer2(b"\xab")
if dat[0] == NACK:
raise Exception("Got NACK response for data")
logging.debug("- waiting for data ACK")
self._wait_for_ack(spi, DACK, timeout)
# get response length, then response
response_len_bytes = bytes(self.spi.xfer2(b"\x00" * 2))
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
response_len = struct.unpack("<H", response_len_bytes)[0]
if response_len > max_rx_len:
raise PandaSpiException("response length greater than max")
logging.debug("- receiving response")
dat = bytes(self.spi.xfer2(b"\x00" * (response_len + 1)))
dat = bytes(spi.xfer2(b"\x00" * (response_len + 1)))
if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0:
raise Exception("SPI got bad checksum")
raise PandaSpiBadChecksum
return dat[:-1]
except Exception:
logging.exception("SPI transfer failed, %d retries left", n)
raise Exception(f"SPI transaction failed {MAX_RETRY_COUNT} times")
except PandaSpiException as e:
exc = e
logging.debug("SPI transfer failed, %d retries left", n, exc_info=True)
raise exc
# libusb1 functions
def close(self):
self.spi.close()
self.dev.close()
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = 0):
return self._transfer(0, struct.pack("<BHHH", request, value, index, 0))
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
with self.dev.acquire() as spi:
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, 0), timeout)
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = 0):
return self._transfer(0, struct.pack("<BHHH", request, value, index, length))
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
with self.dev.acquire() as spi:
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, length), timeout)
# TODO: implement these properly
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = 0) -> int:
for x in range(math.ceil(len(data) / USB_MAX_SIZE)):
self._transfer(endpoint, data[USB_MAX_SIZE*x:USB_MAX_SIZE*(x+1)])
return len(data)
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
with self.dev.acquire() as spi:
for x in range(math.ceil(len(data) / USB_MAX_SIZE)):
self._transfer(spi, endpoint, data[USB_MAX_SIZE*x:USB_MAX_SIZE*(x+1)], timeout)
return len(data)
def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
ret: List[int] = []
for _ in range(math.ceil(length / USB_MAX_SIZE)):
d = self._transfer(endpoint, [], max_rx_len=USB_MAX_SIZE)
ret += d
if len(d) < USB_MAX_SIZE:
break
with self.dev.acquire() as spi:
for _ in range(math.ceil(length / USB_MAX_SIZE)):
d = self._transfer(spi, endpoint, [], timeout, max_rx_len=USB_MAX_SIZE)
ret += d
if len(d) < USB_MAX_SIZE:
break
return bytes(ret)
class STBootloaderSPIHandle(BaseSTBootloaderHandle):
"""
Implementation of the STM32 SPI bootloader protocol described in:
https://www.st.com/resource/en/application_note/an4286-spi-protocol-used-in-the-stm32-bootloader-stmicroelectronics.pdf
"""
SYNC = 0x5A
ACK = 0x79
NACK = 0x1F
def __init__(self):
self.dev = SpiDevice(speed=1000000)
# say hello
try:
with self.dev.acquire() as spi:
spi.xfer([self.SYNC, ])
try:
self._get_ack(spi)
except PandaSpiNackResponse:
# NACK ok here, will only ACK the first time
pass
self._mcu_type = MCU_TYPE_BY_IDCODE[self.get_chip_id()]
except PandaSpiException:
raise PandaSpiException("failed to connect to panda") # pylint: disable=W0707
def _get_ack(self, spi, timeout=1.0):
data = 0x00
start_time = time.monotonic()
while data not in (self.ACK, self.NACK) and (time.monotonic() - start_time < timeout):
data = spi.xfer([0x00, ])[0]
time.sleep(0.001)
spi.xfer([self.ACK, ])
if data == self.NACK:
raise PandaSpiNackResponse
elif data != self.ACK:
raise PandaSpiMissingAck
def _cmd(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = 0, predata=None) -> bytes:
ret = b""
with self.dev.acquire() as spi:
# sync + command
spi.xfer([self.SYNC, ])
spi.xfer([cmd, cmd ^ 0xFF])
self._get_ack(spi)
# "predata" - for commands that send the first data without a checksum
if predata is not None:
spi.xfer(predata)
self._get_ack(spi)
# send data
if data is not None:
for d in data:
if predata is not None:
spi.xfer(d + self._checksum(predata + d))
else:
spi.xfer(d + self._checksum(d))
self._get_ack(spi, timeout=20)
# receive
if read_bytes > 0:
ret = spi.xfer([0x00, ]*(read_bytes + 1))[1:]
if data is None or len(data) == 0:
self._get_ack(spi)
return bytes(ret)
def _checksum(self, data: bytes) -> bytes:
if len(data) == 1:
ret = data[0] ^ 0xFF
else:
ret = reduce(lambda a, b: a ^ b, data)
return bytes([ret, ])
# *** Bootloader commands ***
def read(self, address: int, length: int):
data = [struct.pack('>I', address), struct.pack('B', length - 1)]
return self._cmd(0x11, data=data, read_bytes=length)
def get_chip_id(self) -> int:
r = self._cmd(0x02, read_bytes=3)
assert r[0] == 1 # response length - 1
return ((r[1] << 8) + r[2])
def go_cmd(self, address: int) -> None:
self._cmd(0x21, data=[struct.pack('>I', address), ])
# *** helpers ***
def get_uid(self):
dat = self.read(McuType.H7.config.uid_address, 12)
return binascii.hexlify(dat).decode()
def erase_sector(self, sector: int):
p = struct.pack('>H', 0) # number of sectors to erase
d = struct.pack('>H', sector)
self._cmd(0x44, data=[d, ], predata=p)
# *** PandaDFU API ***
def erase_app(self):
self.erase_sector(1)
def erase_bootstub(self):
self.erase_sector(0)
def get_mcu_type(self):
return self._mcu_type
def clear_status(self):
pass
def close(self):
self.dev.close()
def program(self, address, dat):
bs = 256 # max block size for writing to flash over SPI
dat += b"\xFF" * ((bs - len(dat)) % bs)
for i in range(0, len(dat) // bs):
block = dat[i * bs:(i + 1) * bs]
self._cmd(0x31, data=[
struct.pack('>I', address + i*bs),
bytes([len(block) - 1]) + block,
])
def jump(self, address):
self.go_cmd(self._mcu_type.config.bootstub_address)
panda/python/usb.py
+95
View File
@@ -0,0 +1,95 @@
import struct
from typing import List
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
from .constants import McuType
class PandaUsbHandle(BaseHandle):
def __init__(self, libusb_handle):
self._libusb_handle = libusb_handle
def close(self):
self._libusb_handle.close()
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
return self._libusb_handle.controlWrite(request_type, request, value, index, data, timeout)
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout)
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
return self._libusb_handle.bulkWrite(endpoint, data, timeout) # type: ignore
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
return self._libusb_handle.bulkRead(endpoint, length, timeout) # type: ignore
class STBootloaderUSBHandle(BaseSTBootloaderHandle):
DFU_DNLOAD = 1
DFU_UPLOAD = 2
DFU_GETSTATUS = 3
DFU_CLRSTATUS = 4
DFU_ABORT = 6
def __init__(self, libusb_device, libusb_handle):
self._libusb_handle = libusb_handle
# TODO: Find a way to detect F4 vs F2
# TODO: also check F4 BCD, don't assume in else
self._mcu_type = McuType.H7 if libusb_device.getbcdDevice() == 512 else McuType.F4
def _status(self) -> None:
while 1:
dat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
if dat[1] == 0:
break
def _erase_page_address(self, address: int) -> None:
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
self._status()
def get_mcu_type(self):
return self._mcu_type
def erase_app(self):
self._erase_page_address(self._mcu_type.config.app_address)
def erase_bootstub(self):
self._erase_page_address(self._mcu_type.config.bootstub_address)
def clear_status(self):
# Clear status
stat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
if stat[4] == 0xa:
self._libusb_handle.controlRead(0x21, self.DFU_CLRSTATUS, 0, 0, 0)
elif stat[4] == 0x9:
self._libusb_handle.controlWrite(0x21, self.DFU_ABORT, 0, 0, b"")
self._status()
stat = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
def close(self):
self._libusb_handle.close()
def program(self, address, dat):
# Set Address Pointer
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
self._status()
# Program
bs = 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]
print("programming %d with length %d" % (i, len(ldat)))
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2 + i, 0, ldat)
self._status()
def jump(self, address):
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
self._status()
try:
self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2, 0, b"")
_ = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
except Exception:
pass
rednose/helpers/ekf_sym_pyx.so
BIN
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selfdrive/assets/assets.qrc
+1
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@@ -1,5 +1,6 @@
<!DOCTYPE RCC><RCC version="1.0">
<qresource>
<file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
<file>img_continue_triangle.svg</file>
<file>img_circled_check.svg</file>
<file>img_circled_slash.svg</file>
selfdrive/assets/img_driver_face_static.png
BIN
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Side by Side

After

Width:  |  Height:  |  Size: 4.8 KiB

selfdrive/assets/locales/ja-JP/LC_MESSAGES/events.mo
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selfdrive/assets/locales/ko-KR/LC_MESSAGES/events.mo
BIN
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selfdrive/assets/locales/zh-CN/LC_MESSAGES/events.mo
BIN
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selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo
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selfdrive/athena/athenad.py
+2 -3
View File
@@ -36,7 +36,7 @@ from common.file_helpers import CallbackReader
from common.params import Params
from common.realtime import sec_since_boot, set_core_affinity
from system.hardware import HARDWARE, PC, AGNOS
from selfdrive.loggerd.config import ROOT
from system.loggerd.config import ROOT
from selfdrive.loggerd.xattr_cache import getxattr, setxattr
from selfdrive.statsd import STATS_DIR
from system.swaglog import SWAGLOG_DIR, cloudlog
@@ -577,8 +577,7 @@ def get_logs_to_send_sorted() -> List[str]:
def log_handler(end_event: threading.Event) -> None:
# dont upload any logs for now
if True:
if PC:
return
log_files = []
selfdrive/boardd/boardd
BIN
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Binary file not shown.
selfdrive/boardd/boardd_api_impl.cpp
+108 -23
View File
@@ -1,4 +1,4 @@
/* Generated by Cython 0.29.24 */
/* Generated by Cython 0.29.26 */
/* BEGIN: Cython Metadata
{
@@ -23,8 +23,8 @@ END: Cython Metadata */
#elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
#error Cython requires Python 2.6+ or Python 3.3+.
#else
#define CYTHON_ABI "0_29_24"
#define CYTHON_HEX_VERSION 0x001D18F0
#define CYTHON_ABI "0_29_26"
#define CYTHON_HEX_VERSION 0x001D1AF0
#define CYTHON_FUTURE_DIVISION 1
#include <stddef.h>
#ifndef offsetof
@@ -171,7 +171,7 @@ END: Cython Metadata */
#ifndef CYTHON_USE_UNICODE_INTERNALS
#define CYTHON_USE_UNICODE_INTERNALS 1
#endif
#if PY_VERSION_HEX < 0x030300F0
#if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
#undef CYTHON_USE_UNICODE_WRITER
#define CYTHON_USE_UNICODE_WRITER 0
#elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -190,7 +190,7 @@ END: Cython Metadata */
#define CYTHON_FAST_THREAD_STATE 1
#endif
#ifndef CYTHON_FAST_PYCALL
#define CYTHON_FAST_PYCALL 1
#define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
#endif
#ifndef CYTHON_PEP489_MULTI_PHASE_INIT
#define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -209,7 +209,9 @@ END: Cython Metadata */
#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
#endif
#if CYTHON_USE_PYLONG_INTERNALS
#include "longintrepr.h"
#if PY_MAJOR_VERSION < 3
#include "longintrepr.h"
#endif
#undef SHIFT
#undef BASE
#undef MASK
@@ -340,9 +342,68 @@ class __Pyx_FakeReference {
#define __Pyx_DefaultClassType PyClass_Type
#else
#define __Pyx_BUILTIN_MODULE_NAME "builtins"
#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
#define __Pyx_DefaultClassType PyType_Type
#if PY_VERSION_HEX >= 0x030B00A1
static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
PyObject *code, PyObject *c, PyObject* n, PyObject *v,
PyObject *fv, PyObject *cell, PyObject* fn,
PyObject *name, int fline, PyObject *lnos) {
PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
const char *fn_cstr=NULL;
const char *name_cstr=NULL;
PyCodeObject* co=NULL;
PyObject *type, *value, *traceback;
PyErr_Fetch(&type, &value, &traceback);
if (!(kwds=PyDict_New())) goto end;
if (!(argcount=PyLong_FromLong(a))) goto end;
if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
if (!(nlocals=PyLong_FromLong(l))) goto end;
if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
if (!(stacksize=PyLong_FromLong(s))) goto end;
if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
if (!(flags=PyLong_FromLong(f))) goto end;
if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
Py_XDECREF((PyObject*)co);
co = (PyCodeObject*)call_result;
call_result = NULL;
if (0) {
cleanup_code_too:
Py_XDECREF((PyObject*)co);
co = NULL;
}
end:
Py_XDECREF(kwds);
Py_XDECREF(argcount);
Py_XDECREF(posonlyargcount);
Py_XDECREF(kwonlyargcount);
Py_XDECREF(nlocals);
Py_XDECREF(stacksize);
Py_XDECREF(replace);
Py_XDECREF(call_result);
Py_XDECREF(empty);
if (type) {
PyErr_Restore(type, value, traceback);
}
return co;
}
#else
#define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -580,10 +641,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
#if PY_VERSION_HEX < 0x030200A4
typedef long Py_hash_t;
#define __Pyx_PyInt_FromHash_t PyInt_FromLong
#define __Pyx_PyInt_AsHash_t PyInt_AsLong
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t
#else
#define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
#define __Pyx_PyInt_AsHash_t PyInt_AsSsize_t
#define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -746,6 +807,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
(likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
@@ -2568,7 +2630,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
}
if (!use_cline) {
c_line = 0;
PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
(void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
}
else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
c_line = 0;
@@ -2665,30 +2727,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
const char *funcname, int c_line,
int py_line, const char *filename) {
PyCodeObject *py_code = 0;
PyObject *py_srcfile = 0;
PyObject *py_funcname = 0;
PyCodeObject *py_code = NULL;
PyObject *py_funcname = NULL;
#if PY_MAJOR_VERSION < 3
PyObject *py_srcfile = NULL;
py_srcfile = PyString_FromString(filename);
#else
py_srcfile = PyUnicode_FromString(filename);
#endif
if (!py_srcfile) goto bad;
#endif
if (c_line) {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
#else
py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
if (!py_funcname) goto bad;
funcname = PyUnicode_AsUTF8(py_funcname);
if (!funcname) goto bad;
#endif
}
else {
#if PY_MAJOR_VERSION < 3
py_funcname = PyString_FromString(funcname);
#else
py_funcname = PyUnicode_FromString(funcname);
if (!py_funcname) goto bad;
#endif
}
if (!py_funcname) goto bad;
#if PY_MAJOR_VERSION < 3
py_code = __Pyx_PyCode_New(
0,
0,
@@ -2707,11 +2770,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
__pyx_empty_bytes /*PyObject *lnotab*/
);
Py_DECREF(py_srcfile);
Py_DECREF(py_funcname);
#else
py_code = PyCode_NewEmpty(filename, funcname, py_line);
#endif
Py_XDECREF(py_funcname); // XDECREF since it's only set on Py3 if cline
return py_code;
bad:
Py_XDECREF(py_srcfile);
Py_XDECREF(py_funcname);
#if PY_MAJOR_VERSION < 3
Py_XDECREF(py_srcfile);
#endif
return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -3559,6 +3627,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
Py_DECREF(x);
return ival;
}
static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
#if PY_MAJOR_VERSION < 3
} else if (likely(PyInt_CheckExact(o))) {
return PyInt_AS_LONG(o);
#endif
} else {
Py_ssize_t ival;
PyObject *x;
x = PyNumber_Index(o);
if (!x) return -1;
ival = PyInt_AsLong(x);
Py_DECREF(x);
return ival;
}
}
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
}
selfdrive/boardd/boardd_api_impl.so
BIN
View File
Binary file not shown.
selfdrive/boardd/panda.h
+8 -2
View File
@@ -30,6 +30,7 @@ struct __attribute__((packed)) can_header {
uint8_t returned : 1;
uint8_t extended : 1;
uint32_t addr : 29;
uint8_t checksum : 8;
};
struct can_frame {
@@ -47,13 +48,13 @@ private:
public:
Panda(std::string serial="", uint32_t bus_offset=0);
std::string hw_serial;
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
bool has_rtc = false;
const uint32_t bus_offset;
bool connected();
bool comms_healthy();
std::string hw_serial();
// Static functions
static std::vector<std::string> list();
@@ -81,6 +82,7 @@ public:
void set_canfd_non_iso(uint16_t bus, bool non_iso);
void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
bool can_receive(std::vector<can_frame>& out_vec);
void can_reset_communications();
// dp
void set_pigeon_baud(int baud);
bool has_gps = true;
@@ -91,8 +93,12 @@ public:
protected:
// for unit tests
uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
uint32_t receive_buffer_size = 0;
Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
std::function<void(uint8_t *, size_t)> write_func);
bool unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec);
bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
uint8_t calculate_checksum(uint8_t *data, uint32_t len);
};
selfdrive/boardd/panda_comms.h
+7 -3
View File
@@ -5,7 +5,9 @@
#include <cstdint>
#include <vector>
#ifndef __APPLE__
#include <linux/spi/spidev.h>
#endif
#include <libusb-1.0/libusb.h>
@@ -21,6 +23,7 @@ public:
virtual ~PandaCommsHandle() {};
virtual void cleanup() = 0;
std::string hw_serial;
std::atomic<bool> connected = true;
std::atomic<bool> comms_healthy = true;
static std::vector<std::string> list();
@@ -30,9 +33,6 @@ public:
virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
protected:
std::recursive_mutex hw_lock;
};
class PandaUsbHandle : public PandaCommsHandle {
@@ -50,9 +50,11 @@ public:
private:
libusb_context *ctx = NULL;
libusb_device_handle *dev_handle = NULL;
std::recursive_mutex hw_lock;
void handle_usb_issue(int err, const char func[]);
};
#ifndef __APPLE__
class PandaSpiHandle : public PandaCommsHandle {
public:
PandaSpiHandle(std::string serial);
@@ -69,9 +71,11 @@ private:
int spi_fd = -1;
uint8_t tx_buf[SPI_BUF_SIZE];
uint8_t rx_buf[SPI_BUF_SIZE];
inline static std::recursive_mutex hw_lock;
int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len);
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
};
#endif
selfdrive/boardd/pandad.py
+5 -7
View File
@@ -7,7 +7,7 @@ import subprocess
from typing import List, NoReturn
from functools import cmp_to_key
from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
from panda import Panda, PandaDFU
from common.basedir import BASEDIR
from common.params import Params
from system.hardware import HARDWARE
@@ -15,10 +15,8 @@ from system.swaglog import cloudlog
def get_expected_signature(panda: Panda) -> bytes:
fn = DEFAULT_H7_FW_FN if (panda.get_mcu_type() == MCU_TYPE_H7) else DEFAULT_FW_FN
try:
return Panda.get_signature_from_firmware(fn)
return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path)
except Exception:
cloudlog.exception("Error computing expected signature")
return b""
@@ -86,9 +84,9 @@ def main() -> NoReturn:
params.remove("PandaSignatures")
# Flash all Pandas in DFU mode
for p in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
PandaDFU(p).recover()
for serial in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
PandaDFU(serial).recover()
time.sleep(1)
panda_serials = Panda.list()

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