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Code Issues Packages Projects Releases Wiki Activity

misc docs updates (#37839)

Browse Source 
* that's home

* more extensions

* lil fixups

* lil more

* collapse car ports

* fix links
This commit is contained in:
Adeeb Shihadeh
2026-04-15 18:37:23 -07:00
committed by GitHub
parent 9042cfa1ad
commit 84c276bb6c
11 changed files with 55 additions and 203 deletions
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docs/car-porting/brand-port.md
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# Developing a car brand port
A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
docs/car-porting/car-state-signals.md
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# CarState signals
## Required for basic lateral control
* `brakePressed`
* `cruiseState`
* `doorOpen`
* `espDisabled`
* `gasPressed`
* `gearShifter`
* `leftBlinker` / `rightBlinker`
* `seatbeltUnlatched`
* `standstill`
* `steeringAngleDeg`
* `steeringPressed`
* `steeringTorque`
* `steerFaultPermanent`
* `steerFaultTemporary`
* `vCruise`
* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
## Recommended / Required for openpilot longitudinal control
* `accFaulted`
* `espActive`
* `parkingBrake`
## Application Dependent
* `blockPcmEnable`
* `buttonEnable`
* `brakeHoldActive`
* `carFaultedNonCritical`
* `invalidLkasSetting`
* `lowSpeedAlert`
* `regenBraking`
* `steeringAngleOffsetDeg`
* `steeringDisengage`
* `steeringTorqueEps`
* `stockLkas`
* `vCruiseCluster`
* `vEgoCluster`
* `vehicleSensorsInvalid`
## Automatically populated
* `buttonEvents`
These values are populated automatically by `parse_wheel_speeds`:
* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
## Optional
* `brake`
* `charging`
* `fuelGauge`
* `leftBlindspot` / `rightBlindspot`
* `steeringRateDeg`
* `stockAeb`
* `stockFcw`
* `yawRate`
docs/car-porting/model-port.md
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# Developing a car model port
A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
docs/car-porting/reverse-engineering.md
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# Stimulus-Response Tests
These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
in loss of the last minute of testing data.
## Stationary ignition-only tests, part 1
1. Ignition on, but don't start engine, remain in Park
2. Open and close each door in a defined order: driver, passenger, rear left, rear right
3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
4. Slowly press and release the accelerator pedal 3 times
5. Slowly press and release the brake pedal 3 times
6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
7. Return to Park, ignition off
Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
door signal is available, the same signal may follow the driver.
## Stationary ignition-only tests, part 2
1. Ignition on, but don't start engine, remain in Park
2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
3. Set the left turn signal for about five seconds
4. Operate the left turn signal one time in its touch-to-pass mode
5. Set the right turn signal for about five seconds
6. Operate the right turn signal one time in its touch-to-pass mode
7. Set the hazard / emergency indicator switch for about five seconds
8. Ignition off
Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
isn't necessary for purposes of detecting the ACC button presses.
## Steering angle and steering torque tests
Power steering should be available. On ICE cars, engine RPM may be present.
1. Ignition on, start engine if applicable, remain in Park
2. Rotate the steering wheel as follows, with a few seconds pause between each step
* Start as close to exact center as possible
* Turn to 45 degrees right and hold
* Turn to 90 degrees right and hold
* Turn to 180 degrees right and hold
* Turn to full lock right and hold, with firm pressure against lock
* Release the wheel and allow it to bounce back slightly from lock
* Turn to 180 degrees left and hold
* Return to center and release
3. Ignition off
Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
## Low speed / parking lot driving tests
Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
1. Ignition on, start engine if applicable, prepare to drive
2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
3. Come to a complete stop
4. When and where safe, drive in reverse for a short distance (10-15 feet)
5. Park the car in a safe place, ignition off
## High speed / highway driving tests
Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
traffic ahead, and safely test the response of your factory lane guidance system.
1. Ignition on, start engine if applicable, prepare to drive
2. When safely able, engage adaptive cruise control below 50 mph
3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
4. Disengage adaptive cruise
5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.
docs/concepts/logs.md
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@@ -6,9 +6,9 @@ Check out our [Python library](https://github.com/commaai/openpilot/blob/master/
For each segment, openpilot records the following log types:
## rlog.bz2
## rlog.zst
rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.
rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
## {f,e,d}camera.hevc
@@ -18,12 +18,10 @@ Each camera stream is H.265 encoded and written to its respective file.
* `ecamera.hevc` is the wide road camera
* `dcamera.hevc` is the driver camera
## qlog.bz2 & qcamera.ts
## qlog.zst & qcamera.ts
qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.
qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
docs/contributing/roadmap.md
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@@ -7,25 +7,11 @@ This is the roadmap for the next major openpilot releases. Also check out
* [Bounties](https://comma.ai/bounties) for paid individual issues
* [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
## openpilot 0.10
openpilot 0.10 will be the first release with a driving policy trained in
a [learned simulator](https://youtu.be/EqQNZXqzFSI).
* Driving model trained in a learned simulator
* Always-on driver monitoring (behind a toggle)
* GPS removed from the driving stack
* 100KB qlogs
* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
## openpilot 1.0
openpilot 1.0 will feature a fully end-to-end driving policy.
* End-to-end longitudinal control in Chill mode
* Automatic Emergency Braking (AEB)
* Driver monitoring with sleep detection
* Rolling updates/releases pushed out by CI
* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)
docs/ext/glossary.py
+2 -1
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@@ -108,7 +108,8 @@ class GlossaryTreeprocessor(Treeprocessor):
if child is None:
parent.text = pieces[0] if isinstance(pieces[0], str) else ""
insert_at = 0 if isinstance(pieces[0], str) else -1
# Insert replacements for parent.text before the first existing child.
insert_at = -1
else:
assert index is not None
child.tail = pieces[0] if isinstance(pieces[0], str) else ""
docs/car-porting/what-is-a-car-port.md → docs/how-to/car-port.md
+16 -4
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@@ -8,7 +8,7 @@ A car port enables openpilot support on a particular car. Each car model openpil
# Structure of a car port
Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
## opendbc
@@ -23,8 +23,8 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
## safety
* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
## openpilot
@@ -32,8 +32,20 @@ For historical reasons, openpilot still contains a small amount of car-specific
* `selfdrive/car/car_specific.py`: Brand-specific event logic
# Overview
# How do I port car?
[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
https://www.youtube.com/watch?v=XxPS5TpTUnI
## Brand Port
A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
## Model Port
A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
docs/how-to/connect-to-comma.md
+10 -9
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@@ -1,15 +1,15 @@
# connect to a comma four
# connect to a comma 3X or comma four
A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
A comma device is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
## Serial Console
On both the comma three and comma four, the serial console is accessible from the main OBD-C port.
Connect the comma four to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
On the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
Access it using `panda/scripts/som_debug.sh`.
On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
On the comma four, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
Login to the default user with:
* Username: `comma`
* Password: `comma`
@@ -25,7 +25,7 @@ In order to SSH into your device, you'll need a GitHub account with SSH keys. Se
* Port: `22`
Here's an example command for connecting to your device using its tethered connection:<br />
`ssh comma@192.168.43.1`
`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
> [!NOTE]
> The default port for ADB is 5555 on the comma four.
> The default port for ADB is 5555.
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
@@ -55,7 +55,7 @@ The public keys are only fetched from your GitHub account once. In order to upda
The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
#### ssh.comma.ai proxy
## ssh.comma.ai proxy
With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
@@ -79,6 +79,7 @@ Host ssh.comma.ai
```
ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
```
(Replace `ffffffffffffffff` with your dongle_id)
### ssh.comma.ai host key fingerprint
docs/getting-started/what-is-openpilot.md → docs/index.md
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zensical.toml
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@@ -9,23 +9,17 @@ site_dir = "docs_site/"
extra_css = ["stylesheets/extra.css"]
nav = [
{ "Getting Started" = [
{ "What is openpilot?" = "getting-started/what-is-openpilot.md" },
] },
{ "What is openpilot?" = "index.md" },
{ "How-to" = [
{ "Turn the speed blue" = "how-to/turn-the-speed-blue.md" },
{ "Connect to a comma 3X" = "how-to/connect-to-comma.md" },
{ "Connect to a comma 3X or four" = "how-to/connect-to-comma.md" },
{ "Add support for a car" = "how-to/car-port.md" },
] },
{ "Concepts" = [
{ "Logs" = "concepts/logs.md" },
{ "Safety" = "concepts/safety.md" },
{ "Glossary" = "concepts/glossary.md" },
] },
{ "Car Porting" = [
{ "What is a car port?" = "car-porting/what-is-a-car-port.md" },
{ "Porting a car brand" = "car-porting/brand-port.md" },
{ "Porting a car model" = "car-porting/model-port.md" },
] },
{ "Contributing" = [
{ "Roadmap" = "contributing/roadmap.md" },
{ "Contributing Guide →" = "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" },
@@ -63,4 +57,24 @@ link = "https://discord.comma.ai"
icon = "fontawesome/brands/x-twitter"
link = "https://x.com/comma_ai"
[project.markdown_extensions.attr_list]
[project.markdown_extensions.admonition]
[project.markdown_extensions.md_in_html]
[project.markdown_extensions.pymdownx.highlight]
anchor_linenums = true
line_spans = "__span"
pygments_lang_class = true
[project.markdown_extensions.pymdownx.inlinehilite]
[project.markdown_extensions.pymdownx.magiclink]
[project.markdown_extensions.pymdownx.superfences]
custom_fences = [{ name = "mermaid", class = "mermaid" }]
[project.markdown_extensions.pymdownx.details]
[project.markdown_extensions."ext.glossary"]