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Merge branch 'master' into dev-priv/master

Browse Source
This commit is contained in:
Jason Wen
2023-08-02 12:58:28 -04:00
parent ec5258c69e 35e8d675bc
commit 31b29bc094
326 changed files with 11713 additions and 8228 deletions
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.github/workflows/prebuilt.yaml
+3
View File
@@ -21,6 +21,7 @@ jobs:
IMAGE_NAME: openpilot-prebuilt
steps:
- name: Wait for green check mark
if: ${{ github.event_name != 'workflow_dispatch' }}
uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
with:
ref: master
@@ -38,3 +39,5 @@ jobs:
run: |
$DOCKER_LOGIN
docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
docker tag $DOCKER_REGISTRY/$IMAGE_NAME:latest $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA
docker push $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA
.github/workflows/release.yaml
+23 -1
View File
@@ -7,10 +7,20 @@ on:
jobs:
build_masterci:
name: build master-ci
env:
TARGET_DIR: /tmp/openpilot
ImageOS: ubuntu20
container:
image: ghcr.io/commaai/openpilot-base:latest
runs-on: ubuntu-20.04
if: github.repository == 'commaai/openpilot'
steps:
- name: Install wait-on-check-action dependencies
run: |
sudo apt-get update
sudo apt-get install -y libyaml-dev
- name: Wait for green check mark
if: ${{ github.event_name != 'workflow_dispatch' }}
uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
with:
ref: master
@@ -22,7 +32,19 @@ jobs:
submodules: true
fetch-depth: 0
- name: Pull LFS
run: git lfs pull
run: |
git config --global --add safe.directory '*'
git lfs pull
- name: Build master-ci
run: |
release/build_devel.sh
- name: Run tests
run: |
export PYTHONPATH=$TARGET_DIR
cd $TARGET_DIR
scons -j$(nproc)
selfdrive/car/tests/test_car_interfaces.py
- name: Push master-ci
run: |
unset TARGET_DIR
BRANCH=master-ci release/build_devel.sh
.github/workflows/selfdrive_tests.yaml
+99 -62
View File
@@ -23,7 +23,7 @@ env:
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
BUILD_CL: |
DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
UNIT_TEST: coverage run --append -m unittest discover
@@ -81,67 +81,97 @@ jobs:
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
scons -j$(nproc) --cache-populate"
#build_mac:
# name: build macos
# runs-on: macos-latest
# steps:
# - uses: actions/checkout@v3
# with:
# submodules: true
# - name: Determine pre-existing Homebrew packages
# if: steps.dependency-cache.outputs.cache-hit != 'true'
# run: |
# echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
# ls -1 /usr/local/Cellar >> $GITHUB_ENV
# echo 'EOF' >> $GITHUB_ENV
# - name: Cache dependencies
# id: dependency-cache
# uses: actions/cache@v2
# with:
# path: |
# ~/.pyenv
# ~/.local/share/virtualenvs/
# /usr/local/Cellar
# ~/github_brew_cache_entries.txt
# /tmp/scons_cache
# key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
# restore-keys: macos-
# - name: Brew link restored dependencies
# run: |
# if [ -f ~/github_brew_cache_entries.txt ]; then
# while read pkg; do
# brew link --force "$pkg" # `--force` for keg-only packages
# done < ~/github_brew_cache_entries.txt
# else
# echo "Cache entries not found"
# fi
# - name: Install dependencies
# run: ./tools/mac_setup.sh
# - name: Build openpilot
# run: |
# source tools/openpilot_env.sh
# poetry run selfdrive/manager/build.py
#
# # cleanup scons cache
# rm -rf /tmp/scons_cache/
# poetry run scons -j$(nproc) --cache-populate
# - name: Remove pre-existing Homebrew packages for caching
# if: steps.dependency-cache.outputs.cache-hit != 'true'
# run: |
# cd /usr/local/Cellar
# new_cellar=$(ls -1)
# comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
# if [[ $pkg != "zstd" ]]; then # caching step needs zstd
# rm -rf "$pkg"
# fi
# done
# comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
build_mac:
name: build macos
runs-on: macos-latest
steps:
- uses: actions/checkout@v3
with:
submodules: true
- name: Determine pre-existing Homebrew packages
if: steps.dependency-cache.outputs.cache-hit != 'true'
run: |
echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
brew list --formula -1 >> $GITHUB_ENV
echo 'EOF' >> $GITHUB_ENV
- name: Restore scons cache
id: scons-restore-cache
uses: actions/cache/restore@v3
with:
path: /tmp/scons_cache
key: macos_scons-${{ github.sha }}
restore-keys: macos_scons-
- name: Cache dependencies
id: dependency-cache
uses: actions/cache@v2
with:
path: |
~/github_brew_cache_entries.txt
~/.pyenv
~/Library/Caches/pypoetry
/usr/local/Cellar
/usr/local/opt
/usr/local/Caskroom/gcc-arm-*
/opt/homebrew/Cellar
/opt/homebrew/opt
/opt/homebrew/Caskroom/gcc-arm-*
/Applications/ArmGNUToolchain/*/*/*
key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
restore-keys: macos_deps-
- name: Brew link restored dependencies
run: |
if [ -f ~/github_brew_cache_entries.txt ]; then
brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages
if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually
GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)"
echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH
fi
else
echo "Cache entries not found"
fi
- name: Install dependencies
if: steps.dependency-cache.outputs.cache-hit != 'true'
run: ./tools/mac_setup.sh
- name: Build openpilot
run: |
source tools/openpilot_env.sh
poetry run scons -j$(nproc)
- name: Run tests
run: |
source tools/openpilot_env.sh
export PYTHONPATH=$PWD
poetry run tools/plotjuggler/test_plotjuggler.py
- name: Pre Cache - Cleanup scons cache
if: github.ref == 'refs/heads/master'
run: |
source tools/openpilot_env.sh
rm -rf /tmp/scons_cache/*
poetry run scons -j$(nproc) --cache-populate
- name: Save scons cache
id: scons-save-cache
uses: actions/cache/save@v3
if: github.ref == 'refs/heads/master'
with:
path: /tmp/scons_cache
key: macos_scons-${{ github.sha }}
- name: Pre Cache - Remove pre-existing Homebrew packages
if: steps.dependency-cache.outputs.cache-hit != 'true'
run: |
new_cellar=$(brew list --formula -1)
comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
if [[ $pkg != "zstd" ]]; then # caching step needs zstd
rm -rf "$(brew --cellar)/$pkg"
fi
done
comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
# .fseventsd directory causes permission errors in dep caching step
# its used by the system to observe changes within the directory - toolchain works without it, just remove it
sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
docker_push:
name: docker push
runs-on: ubuntu-20.04
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
steps:
- uses: actions/checkout@v3
with:
@@ -152,12 +182,16 @@ jobs:
run: |
$DOCKER_LOGIN
docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
docker tag $DOCKER_REGISTRY/$BASE_IMAGE:latest $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA
docker push $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA
- name: Build CL Docker image
run: eval "$BUILD_CL"
- name: Push to container registry
run: |
$DOCKER_LOGIN
docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
docker tag $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA
docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA
static_analysis:
name: static analysis
@@ -229,9 +263,10 @@ jobs:
./tools/replay/tests/test_replay && \
./tools/cabana/tests/test_cabana && \
./system/camerad/test/ae_gray_test && \
./selfdrive/test/process_replay/test_fuzzy.py && \
coverage xml"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
uses: codecov/codecov-action@v3
process_replay:
name: process replay
@@ -269,7 +304,7 @@ jobs:
run: |
${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
uses: codecov/codecov-action@v3
test_modeld:
name: model tests
@@ -279,6 +314,8 @@ jobs:
with:
submodules: true
- uses: ./.github/workflows/setup
- name: Build base Docker image
run: eval "$BUILD"
- name: Build Docker image
# Sim docker is needed to get the OpenCL drivers
run: eval "$BUILD_CL"
@@ -294,7 +331,7 @@ jobs:
${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
coverage xml"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
uses: codecov/codecov-action@v3
test_longitudinal:
name: longitudinal
@@ -314,7 +351,7 @@ jobs:
coverage run ./test_longitudinal.py && \
coverage xml"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
uses: codecov/codecov-action@v3
- uses: actions/upload-artifact@v2
if: always()
continue-on-error: true
@@ -351,7 +388,7 @@ jobs:
NUM_JOBS: 5
JOB_ID: ${{ matrix.job }}
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
uses: codecov/codecov-action@v3
car_docs_diff:
name: PR comments
.gitignore
+2
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@@ -45,7 +45,9 @@ selfdrive/logcatd/logcatd
selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/ui/translations/alerts_generated.h
selfdrive/test/longitudinal_maneuvers/out
selfdrive/car/tests/cars_dump
system/camerad/camerad
system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
.pre-commit-config.yaml
+1 -1
View File
@@ -5,5 +5,5 @@ repos:
- id: poetry-check
- id: poetry-lock
name: validate poetry lock
args:
args:
- --check
.python-version
+1 -1
View File
@@ -1 +1 @@
3.8.10
3.11.4
Dockerfile.openpilot_base
+1 -1
View File
@@ -13,7 +13,7 @@ ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
ENV POETRY_VIRTUALENVS_CREATE=false
ENV PYENV_VERSION=3.8.10
ENV PYENV_VERSION=3.11.4
ENV PYENV_ROOT="/root/.pyenv"
ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
Jenkinsfile
Vendored
+60 -21
View File
@@ -6,6 +6,7 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <
set -e
export CI=1
export LOGPRINT=debug
export TEST_DIR=${env.TEST_DIR}
export SOURCE_DIR=${env.SOURCE_DIR}
export GIT_BRANCH=${env.GIT_BRANCH}
@@ -18,6 +19,20 @@ export GIT_SSH_COMMAND="ssh -i /data/gitkey"
source ~/.bash_profile
if [ -f /TICI ]; then
source /etc/profile
if ! systemctl is-active --quiet systemd-resolved; then
echo "restarting resolved"
sudo systemctl start systemd-resolved
sleep 3
fi
# restart aux USB
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
echo "restarting aux usb"
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
sleep 0.5
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
fi
fi
if [ -f /data/openpilot/launch_env.sh ]; then
source /data/openpilot/launch_env.sh
@@ -128,17 +143,41 @@ pipeline {
}
*/
stage('scons build test') {
agent {
dockerfile {
filename 'Dockerfile.openpilot_base'
args '--user=root'
}
}
steps {
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --depth=1 --recursive"
sh "scons --clean && scons --no-cache -j42"
sh "scons --clean && scons --no-cache --random -j42"
}
post {
always {
sh "rm -rf ${WORKSPACE}/* || true"
sh "rm -rf .* || true"
}
}
}
stage('tizi-tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tizi", [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
])
}
}
@@ -155,7 +194,6 @@ pipeline {
["check dirty", "release/check-dirty.sh"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
])
}
}
@@ -165,7 +203,7 @@ pipeline {
steps {
phone_steps("tici-loopback", [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
])
}
}
@@ -175,12 +213,13 @@ pipeline {
steps {
phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
["test pigeond", "python system/sensord/tests/test_pigeond.py"],
["test manager", "python selfdrive/manager/test/test_manager.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
["test loggerd", "pytest system/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
["test nav", "pytest selfdrive/navd/tests/"],
])
}
}
@@ -190,13 +229,13 @@ pipeline {
steps {
phone_steps("tici-ar0231", [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
phone_steps("tici-ox03c10", [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
}
}
@@ -206,11 +245,11 @@ pipeline {
steps {
phone_steps("tici-lsmc", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
])
phone_steps("tici-bmx-lsm", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
])
}
}
@@ -218,7 +257,7 @@ pipeline {
stage('replay') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-common", [
phone_steps("tici-replay", [
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
])
RELEASES.md
+16 -1
View File
@@ -1,4 +1,19 @@
Version 0.9.3 (2023-06-20)
Version 0.9.4 (2023-07-27)
========================
* Navigate on openpilot in Experimental mode
* When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
* When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
* When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
* When navigate on openpilot is active, the path on the map is green
* UI updates
* Navigation settings moved to home screen and map
* Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
* Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
* Bookmarked segments are preserved on the device's storage
* Ford Focus 2018 support
* Kia Carnival 2023 support thanks to sunnyhaibin!
Version 0.9.3 (2023-06-29)
========================
* New driving model
* Improved height estimation and added height tracking in liveCalibration
SConstruct
+17 -24
View File
@@ -67,17 +67,17 @@ AddOption('--no-test',
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
if arch == "aarch64" and AGNOS:
arch = "larch64"
lenv = {
"PATH": os.environ['PATH'],
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
"PYTHONPATH": Dir("#").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
}
@@ -110,26 +110,21 @@ else:
cflags = []
cxxflags = []
cpppath = []
rpath += [
Dir("#cereal").abspath,
Dir("#common").abspath
]
# MacOS
if arch == "Darwin":
if real_arch == "x86_64":
lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
libpath = [
f"#third_party/libyuv/{yuv_dir}/lib",
f"#third_party/acados/{arch}/lib",
f"{brew_prefix}/lib",
f"{brew_prefix}/Library",
f"{brew_prefix}/opt/openssl@3.0/lib",
f"{brew_prefix}/Cellar",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
]
if real_arch == "x86_64":
libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
else:
libpath.append(f"#third_party/acados/{arch}/lib")
cflags += ["-DGL_SILENCE_DEPRECATION"]
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
@@ -137,6 +132,7 @@ else:
f"{brew_prefix}/include",
f"{brew_prefix}/opt/openssl@3.0/include",
]
lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
# Linux 86_64
else:
libpath = [
@@ -149,12 +145,9 @@ else:
"/usr/lib",
"/usr/local/lib",
]
rpath += [
Dir("#third_party/snpe/x86_64-linux-clang").abspath,
Dir("#cereal").abspath,
Dir("#common").abspath
]
rpath += [
Dir("#third_party/snpe/x86_64-linux-clang").abspath,
]
if GetOption('asan'):
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
@@ -231,7 +224,9 @@ env = Environment(
)
if arch == "Darwin":
env['RPATHPREFIX'] = "-rpath "
# RPATH is not supported on macOS, instead use the linker flags
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
env["LINKFLAGS"] += darwin_rpath_link_flags
if GetOption('compile_db'):
env.CompilationDatabase('compile_commands.json')
@@ -268,10 +263,11 @@ py_include = sysconfig.get_paths()['include']
envCython = env.Clone()
envCython["CPPPATH"] += [py_include, np.get_include()]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
envCython["CCFLAGS"].remove("-Werror")
envCython["LIBS"] = []
if arch == "Darwin":
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
elif arch == "aarch64":
envCython["LINKFLAGS"] = ["-shared"]
envCython["LIBS"] = [os.path.basename(py_include)]
@@ -286,10 +282,7 @@ qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "
qt_libs = []
if arch == "Darwin":
if real_arch == "arm64":
qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
else:
qt_env['QTDIR'] = "/usr/local/opt/qt@5"
qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
qt_dirs = [
os.path.join(qt_env['QTDIR'], "include"),
]
body
+1 -1
Submodule body updated: e1805f65ee...05021c559e
cereal
+1 -1
Submodule cereal updated: 06c6cbb790...01260a348b
common/gpio.cc
+1 -1
View File
@@ -53,7 +53,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
int fd = open(gpiochip_path.c_str(), O_RDONLY);
if (fd < 0) {
LOGE("Error opening gpiochip0 fd")
LOGE("Error opening gpiochip0 fd");
return -1;
}
common/gpio.py
+22 -7
View File
@@ -1,4 +1,4 @@
import glob
from functools import lru_cache
from typing import Optional, List
def gpio_init(pin: int, output: bool) -> None:
@@ -25,12 +25,27 @@ def gpio_read(pin: int) -> Optional[bool]:
return val
def get_irq_for_action(action: str) -> List[int]:
ret = []
for fn in glob.glob('/sys/kernel/irq/*/actions'):
with open(fn) as f:
def gpio_export(pin: int) -> None:
try:
with open("/sys/class/gpio/export", 'w') as f:
f.write(str(pin))
except Exception:
print(f"Failed to export gpio {pin}")
@lru_cache(maxsize=None)
def get_irq_action(irq: int) -> List[str]:
try:
with open(f"/sys/kernel/irq/{irq}/actions") as f:
actions = f.read().strip().split(',')
if action in actions:
irq = int(fn.split('/')[-2])
return actions
except FileNotFoundError:
return []
def get_irqs_for_action(action: str) -> List[str]:
ret = []
with open("/proc/interrupts") as f:
for l in f.readlines():
irq = l.split(':')[0].strip()
if irq.isdigit() and action in get_irq_action(irq):
ret.append(irq)
return ret
common/modeldata.h
+5 -13
View File
@@ -10,6 +10,9 @@ const int LON_MPC_N = 32;
const float MIN_DRAW_DISTANCE = 10.0;
const float MAX_DRAW_DISTANCE = 100.0;
const float RYG_GREEN = 0.01165;
const float RYG_YELLOW = 0.06157;
template <typename T, size_t size>
constexpr std::array<T, size> build_idxs(float max_val) {
std::array<T, size> result{};
@@ -24,23 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
0.0, 2648.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
// tici ecam focal probably wrong? magnification is not consistent across frame
// Need to retrain model before this can be changed
const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
0.0, 567.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
static inline mat3 get_model_yuv_transform() {
float db_s = 1.0;
const mat3 transform = (mat3){{
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0
}};
// Can this be removed since scale is 1?
return transform_scale_buffer(transform, db_s);
}
common/params.cc
+29 -26
View File
@@ -85,6 +85,9 @@ private:
std::unordered_map<std::string, uint32_t> keys = {
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
{"ApiCache_Device", PERSISTENT},
{"ApiCache_DriveStats", PERSISTENT},
{"ApiCache_NavDestinations", PERSISTENT},
{"AssistNowToken", PERSISTENT},
{"AthenadPid", PERSISTENT},
{"AthenadUploadQueue", PERSISTENT},
@@ -102,16 +105,16 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"DisablePowerDown", PERSISTENT},
{"ExperimentalMode", PERSISTENT},
{"ExperimentalModeConfirmed", PERSISTENT},
{"LongitudinalPersonality", PERSISTENT},
{"ExperimentalLongitudinalEnabled", PERSISTENT},
{"DisableUpdates", PERSISTENT},
{"DisengageOnAccelerator", PERSISTENT},
{"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
{"DongleId", PERSISTENT},
{"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START},
{"ExperimentalLongitudinalEnabled", PERSISTENT},
{"ExperimentalMode", PERSISTENT},
{"ExperimentalModeConfirmed", PERSISTENT},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ForcePowerDown", PERSISTENT},
{"GitBranch", PERSISTENT},
@@ -134,9 +137,9 @@ std::unordered_map<std::string, uint32_t> keys = {
{"IsOffroad", CLEAR_ON_MANAGER_START},
{"IsOnroad", PERSISTENT},
{"IsRhdDetected", PERSISTENT},
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
@@ -144,6 +147,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
{"LastGPSPosition", PERSISTENT},
{"LastManagerExitReason", CLEAR_ON_MANAGER_START},
{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
{"LastSystemShutdown", CLEAR_ON_MANAGER_START},
{"LastUpdateException", CLEAR_ON_MANAGER_START},
@@ -151,16 +155,30 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LiveParameters", PERSISTENT},
{"LiveTorqueCarParams", PERSISTENT},
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LongitudinalPersonality", PERSISTENT},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"NavSettingTime24h", PERSISTENT},
{"NavSettingLeftSide", PERSISTENT},
{"NavSettingTime24h", PERSISTENT},
{"NavdRender", PERSISTENT},
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"PandaLogState", PERSISTENT},
{"PandaSignatures", CLEAR_ON_MANAGER_START},
{"Passive", PERSISTENT},
{"PrimeType", PERSISTENT},
@@ -177,32 +195,17 @@ std::unordered_map<std::string, uint32_t> keys = {
{"UbloxAvailable", PERSISTENT},
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
{"UpdaterState", CLEAR_ON_MANAGER_START},
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
{"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
{"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
{"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
{"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
{"UpdaterState", CLEAR_ON_MANAGER_START},
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
{"Version", PERSISTENT},
{"VisionRadarToggle", PERSISTENT},
{"ApiCache_Device", PERSISTENT},
{"ApiCache_DriveStats", PERSISTENT},
{"ApiCache_NavDestinations", PERSISTENT},
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"WheeledBody", PERSISTENT},
{"AccMadsCombo", PERSISTENT},
{"AmapKey1", PERSISTENT},
common/swaglog.cc
-1
View File
@@ -135,4 +135,3 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
va_end(args);
}
common/swaglog.h
+3 -3
View File
@@ -21,11 +21,11 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
__func__, \
fmt, ## __VA_ARGS__);
fmt, ## __VA_ARGS__)
#define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
__func__, \
__VA_ARGS__);
__VA_ARGS__)
#define cloudlog_rl(burst, millis, lvl, fmt, ...) \
common/time.py
+3
View File
@@ -1,3 +1,6 @@
import datetime
MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
def system_time_valid():
return datetime.datetime.now() > MIN_DATE
common/version.h
+1 -1
View File
@@ -1 +1 @@
#define COMMA_VERSION "0.9.3.2"
#define COMMA_VERSION "0.9.4"
docs/CARS.md
+59 -68
View File
@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 264 Supported Cars
# 255 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -17,14 +17,14 @@ A supported vehicle is one that just works when you install a comma three. All s
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
@@ -34,30 +34,28 @@ A supported vehicle is one that just works when you install a comma three. All s
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 Non-SCC 2021">Buy Here</a></sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>7</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV60 (Performance Trim) 2023[<sup>7</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>7</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>7</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV80 2023[<sup>7</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 4-Cylinder 2016-17|Honda Sensing|openpilot|25 mph[<sup>5</sup>](#footnotes)|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 4-Cylinder 2016-17">Buy Here</a></sub></details>[<sup>6</sup>](#footnotes)||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Clarity 2018-22|Honda Sensing|openpilot|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Clarity 2018-22">Buy Here</a></sub></details>||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -76,12 +74,11 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Non-SCC 2022">Buy Here</a></sub></details>||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>7</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>7</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>7</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -90,42 +87,42 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Cruz 2022-23[<sup>7</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|Hyundai|Tucson 2022[<sup>7</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023[<sup>7</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|Hyundai|Tucson Hybrid 2022-23[<sup>7</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>7</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-23[<sup>7</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (without HDA II) 2022-23[<sup>7</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte Non-SCC 2019">Buy Here</a></sub></details>||
|Kia|Forte Non-SCC 2021|No Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte Non-SCC 2021">Buy Here</a></sub></details>||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2023[<sup>7</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2023[<sup>7</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
@@ -133,10 +130,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2021-23[<sup>7</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>7</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Kia|Sportage 2023[<sup>7</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|Kia|Sportage Hybrid 2023[<sup>7</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
@@ -156,8 +153,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -167,32 +164,26 @@ A supported vehicle is one that just works when you install a comma three. All s
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|Ram|2500 2020-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=2500 2020-22">Buy Here</a></sub></details>||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=3500 2019-22">Buy Here</a></sub></details>||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|Subaru|Forester 2017-18|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2017-18">Buy Here</a></sub></details>||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2015-18">Buy Here</a></sub></details>||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|Subaru|Outback 2015-17|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2015-17">Buy Here</a></sub></details>||
|Subaru|Outback 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2018-19">Buy Here</a></sub></details>||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Karoq 2019-21[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|Škoda|Scala 2020[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
@@ -237,9 +228,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
@@ -265,7 +256,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
@@ -276,11 +267,11 @@ A supported vehicle is one that just works when you install a comma three. All s
### Footnotes
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>5</sup>openpilot operates above 25mph for 9th Generation Accord 4CYL, 6CYL and Hybrid which don't have Low-Speed Follow. <br />
<sup>6</sup>9th Generation model years have ALC data over serial lines and require third party hardware to interface with openpilot. For more information, see <a href="https://github.com/mlocoteta/serialSteeringHardware" target="_blank">mlocoteta's GitHub</a>. <br />
<sup>7</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>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>6</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
docs/SAFETY.md
+4 -1
View File
@@ -25,9 +25,12 @@ ensuring two main safety requirements.
by stepping on the brake pedal or by pressing the cancel button.
2. The vehicle must not alter its trajectory too quickly for the driver to safely
react. This means that while the system is engaged, the actuators are constrained
to operate within reasonable limits.
to operate within reasonable limits[^1].
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
not fully meeting the above requirements.
[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
laika_repo
+1 -1
Submodule laika_repo updated: e932f32ab9...3b3d41a885
launch_chffrplus.sh
+5
View File
@@ -9,6 +9,11 @@ source "$BASEDIR/launch_env.sh"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
function agnos_init {
# wait longer for weston to come up
if [ -f "$BASEDIR/prebuilt" ]; then
sleep 3
fi
# TODO: move this to agnos
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
launch_env.sh
+1 -1
View File
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="7.1"
export AGNOS_VERSION="8.2"
fi
if [ -z "$PASSIVE" ]; then
mypy.ini
+1 -1
View File
@@ -1,5 +1,5 @@
[mypy]
python_version = 3.8
python_version = 3.11
plugins = numpy.typing.mypy_plugin
files = body, common, docs, scripts, selfdrive, site_scons, system, tools
exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
opendbc
+1 -1
Submodule opendbc updated: b9318f6d60...bb5500f3b2
panda
+1 -1
Submodule panda updated: deb49f107e...f2f7f7ff00
poetry.lock
Generated
+4822 -3280
View File
File diff suppressed because it is too large Load Diff
pyproject.toml
+147 -144
View File
@@ -10,174 +10,177 @@ documentation = "https://docs.comma.ai"
[tool.poetry.dependencies]
python = "~3.8"
atomicwrites = "^1.4.0"
casadi = { version = "==3.5.5", platform = "linux" }
cffi = "^1.15.1"
crcmod = "^1.7"
cryptography = "^37.0.4"
Cython = "^0.29.30"
flake8 = "^4.0.1"
Flask = "^2.1.2"
future-fstrings = "^1.2.0" # for acados
gunicorn = "^20.1.0"
python = "~3.11"
atomicwrites = "*"
aiohttp = "*"
aiortc = "*"
casadi = "==3.6.3"
cffi = "*"
crcmod = "*"
cryptography = "*"
Cython = "*"
flake8 = "*"
Flask = "*"
future-fstrings = "*" # for acados
gunicorn = "*"
hatanaka = "==2.4"
hexdump = "^3.3"
Jinja2 = "^3.1.2"
json-rpc = "^1.13.0"
libusb1 = "^3.0.0"
nose = "^1.3.7"
numpy = "^1.23.0"
onnx = "^1.12.0"
onnxruntime-gpu = { version = "^1.11.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
pillow = "^9.2.0"
hexdump = "*"
Jinja2 = "*"
json-rpc = "*"
libusb1 = "*"
numpy = "==1.23.0" # locked pending deprecation fixes in xx
onnx = ">=1.14.0"
onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
pillow = "*"
poetry = "==1.2.2"
protobuf = "==3.20.1"
psutil = "^5.9.1"
pycapnp = "==1.1.0"
pycryptodome = "^3.15.0"
PyJWT = "^2.5.0"
pyopencl = "^2022.2.4"
pyserial = "^3.5"
python-dateutil = "^2.8.2"
PyYAML = "^6.0"
pyzmq = "^23.2.0"
requests = "^2.28.1"
scons = "^4.3.0"
sentry-sdk = "^1.6.0"
setproctitle = "^1.2.3"
six = "^1.16.0"
smbus2 = "^0.4.2"
sounddevice = "^0.4.5"
spidev = { version = "^3.6", platform = "linux" }
spidev2 = { version = "^0.9.0", platform = "linux" }
sympy = "^1.10.1"
timezonefinder = "^6.0.1"
tqdm = "^4.64.0"
urllib3 = "^1.26.10"
utm = "^0.7.0"
websocket_client = "^1.3.3"
polyline = "^1.4.0"
protobuf = "==3.20.3"
psutil = "*"
pyaudio = "*"
pycapnp = "*"
pycryptodome = "*"
pydub = "*"
PyJWT = "*"
pyopencl = "*"
pyserial = "*"
python-dateutil = "*"
PyYAML = "*"
pyzmq = "*"
requests = "*"
scons = "*"
sentry-sdk = "*"
setproctitle = "*"
smbus2 = "*"
sounddevice = "*"
spidev = { version = "*", platform = "linux" }
spidev2 = { version = "*", platform = "linux" }
sympy = "*"
timezonefinder = "*"
tqdm = "*"
urllib3 = "*"
utm = "*"
websocket_client = "*"
polyline = "*"
sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
[tool.poetry.group.dev.dependencies]
av = "^9.2.0"
av = "*"
azure-storage-blob = "~2.1"
breathe = "^4.34.0"
carla = { version = "==0.9.13", platform = "linux", markers = "platform_machine == 'x86_64'" }
control = "^0.9.2"
coverage = "^6.4.1"
dictdiffer = "^0.9.0"
fastcluster = "^1.2.6"
ft4222 = "^1.4.1"
hexdump = "^3.3"
breathe = "*"
carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
control = "*"
coverage = "*"
dictdiffer = "*"
fastcluster = "*"
ft4222 = "*"
hexdump = "*"
hypothesis = "==6.46.7"
inputs = "^0.5"
lru-dict = "^1.1.7"
lxml = "^4.9.1"
markdown-it-py = "^2.1.0"
matplotlib = "^3.5.2"
mpld3 = "^0.5.8"
mypy = "^0.961"
myst-parser = "^0.18.0"
natsort = "^8.1.0"
numpy = "^1.23.0"
opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
pandas = "^1.4.3"
parameterized = "^0.8.1"
paramiko = "^2.11.0"
pprofile = "^2.1.0"
pre-commit = "^2.19.0"
pycurl = "^7.45.1"
pygame = "^2.1.2"
pylint = "^2.17.4"
pyprof2calltree = "^1.4.5"
pytest = "^7.1.2"
pytest-xdist = "^2.5.0"
reverse_geocoder = "^1.5.1"
scipy = "^1.8.1"
sphinx = "^5.0.2"
sphinx-rtd-theme = "^1.0.0"
sphinx-sitemap = "^2.2.0"
subprocess32 = "^3.5.4"
tabulate = "^0.8.10"
tenacity = "^8.0.1"
types-atomicwrites = "^1.4.5"
types-certifi = "^2021.10.8"
types-pycurl = "^7.45.1"
types-python-dateutil = "^2.8.19.13"
types-PyYAML = "^6.0"
types-requests = "^2.28.11"
types-tabulate = "^0.8.10"
inputs = "*"
lru-dict = "*"
lxml = "*"
markdown-it-py = "*"
matplotlib = "*"
mpld3 = "*"
mypy = "*"
myst-parser = "*"
natsort = "*"
opencv-python-headless = "*"
pandas = "*"
parameterized = "^0.8"
paramiko = "*"
pprofile = "*"
pre-commit = "*"
pycurl = "*"
pygame = "*"
pylint = "*"
pyprof2calltree = "*"
pytest = "*"
pytest-xdist = "*"
reverse_geocoder = "*"
scipy = "==1.9.3" # pinned until xx refs changes can be checked
sphinx = "*"
sphinx-rtd-theme = "*"
sphinx-sitemap = "*"
tabulate = "*"
tenacity = "*"
types-atomicwrites = "*"
types-certifi = "*"
types-pycurl = "*"
types-python-dateutil = "*"
types-PyYAML = "*"
types-requests = "*"
types-tabulate = "*"
[tool.poetry.group.xx]
optional = true
[tool.poetry.group.xx.dependencies]
aenum = "^3.1.11"
aiohttp = "^3.8.1"
albumentations = "^1.2.1"
apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" }
azure-cli-core = "^2.38.0"
azure-common = "^1.1.28"
azure-core = "^1.24.2"
aenum = "*"
aiohttp = "*"
albumentations = "*"
azure-cli-core = "*"
azure-common = "*"
azure-core = "*"
azure-nspkg = "~3.0"
azure-storage-common = "~2.1"
azure-storage-nspkg = "~3.1"
blosc = "==1.9.2"
cloudpickle = "^2.1.0"
configargparse = "^1.5.3"
cupy-cuda11x = "^11.6.0"
datadog = "^0.44.0"
dotmap = "^1.3.30"
einops = "^0.5.0"
elasticsearch = "^8.3.1"
Flask-Cors = "^3.0.10"
Flask-SocketIO = "^5.2.0"
GeoAlchemy2 = "^0.12.1"
imageio = "^2.19.5"
influxdb-client = "^1.30.0"
ipykernel = "^6.15.1"
ipython = "^8.4.0"
joblib = "^1.1.0"
json-logging-py = "^0.2"
jupyter = "^1.0.0"
jupyterlab = "^3.4.4"
jupyterlab-vim = "^0.15.1"
Markdown = "^3.4.1"
msgpack-python = "^0.5.6"
cloudpickle = "*"
configargparse = "*"
cupy-cuda11x = "*"
datadog = "*"
dotmap = "*"
einops = "*"
elasticsearch = "*"
Flask-Cors = "*"
Flask-SocketIO = "*"
GeoAlchemy2 = "*"
imageio = "*"
influxdb-client = "*"
ipykernel = "*"
ipython = "*"
joblib = "*"
json-logging-py = "*"
jupyter = "*"
jupyterlab = "*"
jupyterlab-vim = "*"
Markdown = "*"
msgpack-python = "*"
networkx = "~2.8"
nvidia-ml-py3 = "^7.352.0"
onnx2torch = "^1.5.4"
onnxoptimizer = "^0.3.1"
osmium = "^3.3.0"
pillow-avif-plugin = "^1.2.2"
nvidia-ml-py3 = "*"
onnx2torch = "*"
onnxoptimizer = "*"
osmium = "*"
pillow-avif-plugin = "*"
pipenv = "==2022.10.12"
plotly = "^5.9.0"
pycuda = "^2022.1"
Pygments = "^2.12.0"
plotly = "*"
pycuda = "*"
Pygments = "*"
PyMySQL = "~0.9"
pyproj = "^3.3.1"
python-logstash = "^0.4.8"
redis = "^4.3.4"
s2sphere = "^0.2.5"
scikit-image = "^0.19.3"
scikit-learn = "^1.1.1"
segmentation-models-pytorch = "==0.3.2"
simplejson = "^3.17.6"
SQLAlchemy = "^1.4.39"
torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" }
torchsummary = "^1.5.1"
torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" }
triton = "^2.0.0"
Werkzeug = "^2.1.2"
pyproj = "*"
python-logstash = "*"
redis = "*"
s2sphere = "*"
scikit-image = "*"
scikit-learn = "*"
segmentation-models-pytorch = "==0.3.3"
simplejson = "*"
SQLAlchemy = "*"
torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl" }
torchsummary = "*"
torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl" }
triton = "*"
Werkzeug = "*"
zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
omegaconf = "^2.3.0"
omegaconf = "*"
osmnx = "==1.2.2"
tritonclient = {version = "2.28.0", extras = ["http"]}
tensorrt = "^8.6.0"
transformers = "*"
timm = "==0.9.2"
PyNvCodec = { git = "https://github.com/NVIDIA/VideoProcessingFramework.git", rev = "3347e55" }
apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.1%2Bcu11.8/apex-0.1-cp311-cp311-linux_x86_64.whl" }
opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" }
[build-system]
rednose_repo
+1 -1
Submodule rednose_repo updated: 3b6bd703b7...de6e160b0e
release/build_release.sh
+3 -8
View File
@@ -52,10 +52,8 @@ git branch --set-upstream-to=origin/$RELEASE_BRANCH
# Build panda firmware
pushd panda/
scons -u .
mv board/obj/panda.bin.signed /tmp/panda.bin.signed
mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
mv board/obj/bootstub.panda.bin /tmp/bootstub.panda.bin
mv board/obj/bootstub.panda_h7.bin /tmp/bootstub.panda_h7.bin
mkdir /tmp/panda_obj/
mv board/obj/panda.bin.signed board/obj/panda_h7.bin.signed board/obj/bootstub.panda.bin board/obj/bootstub.panda_h7.bin /tmp/panda_obj/
popd
# Build
@@ -86,10 +84,7 @@ rm selfdrive/modeld/models/supercombo.onnx
rm -rf selfdrive/ui/replay/
# Move back signed panda fw
mkdir -p panda/board/obj
mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
mv /tmp/bootstub.panda.bin panda/board/obj/bootstub.panda.bin
mv /tmp/bootstub.panda_h7.bin panda/board/obj/bootstub.panda_h7.bin
mv /tmp/panda_obj/* panda/board/obj/
# Restore third_party
git checkout third_party/
release/files_common
+1 -1
View File
@@ -208,7 +208,6 @@ selfdrive/controls/lib/lateral_planner.py
selfdrive/controls/lib/longcontrol.py
selfdrive/controls/lib/longitudinal_planner.py
selfdrive/controls/lib/pid.py
selfdrive/controls/lib/radar_helpers.py
selfdrive/controls/lib/speed_limit_controller.py
selfdrive/controls/lib/turn_speed_controller.py
selfdrive/controls/lib/vehicle_model.py
@@ -467,6 +466,7 @@ third_party/libyuv/larch64/**
third_party/snpe/include/**
third_party/snpe/dsp**
third_party/acados/.gitignore
third_party/acados/x86_64/**
third_party/acados/larch64/**
third_party/acados/include/**
scripts/cell.sh
+1 -1
View File
@@ -1,3 +1,3 @@
#!/usr/bin/bash
nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1
nmcli con up --wait --ask lte
nmcli con up lte
selfdrive/assets/navigation/icon_directions.svg
+1
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@@ -0,0 +1 @@
<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)" transform="matrix(2.3325 0 0 2.3825 -72.89 -63.797)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
Side by Side

After

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selfdrive/assets/navigation/icon_directions_outlined.svg
+1
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selfdrive/athena/athenad.py
+42 -9
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@@ -42,6 +42,10 @@ from selfdrive.statsd import STATS_DIR
from system.swaglog import SWAGLOG_DIR, cloudlog
from system.version import get_commit, get_origin, get_short_branch, get_version
# missing in pysocket
TCP_USER_TIMEOUT = 18
ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
LOCAL_PORT_WHITELIST = {8022}
@@ -137,10 +141,11 @@ class UploadQueueCache:
cloudlog.exception("athena.UploadQueueCache.cache.exception")
def handle_long_poll(ws: WebSocket) -> None:
def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None:
end_event = threading.Event()
threads = [
threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
@@ -154,8 +159,9 @@ def handle_long_poll(ws: WebSocket) -> None:
for thread in threads:
thread.start()
try:
while not end_event.is_set():
time.sleep(0.1)
while not end_event.wait(0.1):
if exit_event is not None and exit_event.is_set():
end_event.set()
except (KeyboardInterrupt, SystemExit):
end_event.set()
raise
@@ -754,11 +760,30 @@ def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
end_event.set()
def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
params = Params()
onroad_prev = None
sock = ws.sock
while True:
onroad = params.get_bool("IsOnroad")
if onroad != onroad_prev:
onroad_prev = onroad
sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
if end_event.wait(5):
break
def backoff(retries: int) -> int:
return random.randrange(0, min(128, int(2 ** retries)))
def main():
def main(exit_event: Optional[threading.Event] = None):
try:
set_core_affinity([0, 1, 2, 3])
except Exception:
@@ -771,26 +796,34 @@ def main():
ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
api = Api(dongle_id)
conn_start = None
conn_retries = 0
while 1:
while exit_event is None or not exit_event.is_set():
try:
cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri)
if conn_start is None:
conn_start = time.monotonic()
cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
ws = create_connection(ws_uri,
cookie="jwt=" + api.get_token(),
enable_multithread=True,
timeout=30.0)
cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
duration=time.monotonic() - conn_start)
conn_start = None
conn_retries = 0
cur_upload_items.clear()
handle_long_poll(ws)
handle_long_poll(ws, exit_event)
except (KeyboardInterrupt, SystemExit):
break
except (ConnectionError, TimeoutError, WebSocketException):
conn_retries += 1
params.remove("LastAthenaPingTime")
except socket.timeout:
# TODO: socket.timeout and TimeoutError are now the same exception since python3.10
# Remove the socket.timeout case once we have fully moved to python3.11
except socket.timeout: # pylint: disable=duplicate-except
params.remove("LastAthenaPingTime")
except Exception:
cloudlog.exception("athenad.main.exception")
selfdrive/athena/tests/test_athenad.py
+1 -1
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@@ -159,7 +159,7 @@ class TestAthenadMethods(unittest.TestCase):
resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
self.assertEqual(resp['enqueued'], 1)
self.assertNotIn('failed', resp)
self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0])
self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items())
self.assertIsNotNone(resp['items'][0].get('id'))
self.assertEqual(athenad.upload_queue.qsize(), 1)
selfdrive/athena/tests/test_athenad_ping.py
Executable
+114
View File
@@ -0,0 +1,114 @@
#!/usr/bin/env python3
import subprocess
import threading
import time
import unittest
from typing import Callable, cast, Optional
from unittest.mock import MagicMock
from common.params import Params
from common.timeout import Timeout
from selfdrive.athena import athenad
from system.hardware import TICI
def wifi_radio(on: bool) -> None:
if not TICI:
return
print(f"wifi {'on' if on else 'off'}")
subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)
class TestAthenadPing(unittest.TestCase):
params: Params
dongle_id: str
athenad: threading.Thread
exit_event: threading.Event
_create_connection: Callable
def _get_ping_time(self) -> Optional[str]:
return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8"))
def _clear_ping_time(self) -> None:
self.params.remove("LastAthenaPingTime")
def _received_ping(self) -> bool:
return self._get_ping_time() is not None
def _set_onroad(self, onroad: bool) -> None:
self.params.put_bool("IsOnroad", onroad)
@classmethod
def setUpClass(cls) -> None:
cls.params = Params()
cls.dongle_id = cls.params.get("DongleId", encoding="utf-8")
cls._create_connection = athenad.create_connection
athenad.create_connection = MagicMock(wraps=cls._create_connection)
@classmethod
def tearDownClass(cls) -> None:
wifi_radio(True)
athenad.create_connection = cls._create_connection
def setUp(self) -> None:
wifi_radio(True)
self._clear_ping_time()
self.exit_event = threading.Event()
self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,))
athenad.create_connection.reset_mock()
def tearDown(self) -> None:
if self.athenad.is_alive():
self.exit_event.set()
self.athenad.join()
def assertTimeout(self, reconnect_time: float) -> None:
self.athenad.start()
time.sleep(1)
athenad.create_connection.assert_called_once()
athenad.create_connection.reset_mock()
# check normal behaviour
with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
while not self._received_ping():
time.sleep(0.1)
print("ping received")
athenad.create_connection.assert_not_called()
# websocket should attempt reconnect after short time
with self.subTest("LTE: attempt reconnect"):
wifi_radio(False)
print("waiting for reconnect attempt")
start_time = time.monotonic()
with Timeout(reconnect_time, "no reconnect attempt"):
while not athenad.create_connection.called:
time.sleep(0.1)
print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")
self._clear_ping_time()
# check ping received after reconnect
with self.subTest("LTE: receives ping"), Timeout(70, "no ping received"):
while not self._received_ping():
time.sleep(0.1)
print("ping received")
@unittest.skipIf(not TICI, "only run on desk")
def test_offroad(self) -> None:
self._set_onroad(False)
self.assertTimeout(100) # expect approx 90s
@unittest.skipIf(not TICI, "only run on desk")
def test_onroad(self) -> None:
self._set_onroad(True)
self.assertTimeout(30) # expect 20-30s
if __name__ == "__main__":
unittest.main()
selfdrive/boardd/boardd.cc
+46 -47
View File
@@ -51,7 +51,6 @@
#define MIN_IR_POWER 0.0f
#define CUTOFF_IL 400
#define SATURATE_IL 1000
#define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
using namespace std::chrono_literals;
std::atomic<bool> ignition(false);
@@ -200,6 +199,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
}
//panda->enable_deepsleep();
if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
}
sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
return panda.release();
}
@@ -226,7 +229,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
//Dont send if older than 1 second
// Don't send if older than 1 second
if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
for (const auto& panda : pandas) {
LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
@@ -242,10 +245,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
void can_recv_thread(std::vector<Panda *> pandas) {
util::set_thread_name("boardd_can_recv");
// can = 8006
PubMaster pm({"can"});
// run at 100hz
// run at 100Hz
const uint64_t dt = 10000000ULL;
uint64_t next_frame_time = nanos_since_boot() + dt;
std::vector<can_frame> raw_can_data;
@@ -284,20 +286,6 @@ void can_recv_thread(std::vector<Panda *> pandas) {
}
}
void send_empty_peripheral_state(PubMaster *pm) {
MessageBuilder msg;
auto peripheralState = msg.initEvent().initPeripheralState();
peripheralState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
pm->send("peripheralState", msg);
}
void send_empty_panda_state(PubMaster *pm) {
MessageBuilder msg;
auto pandaStates = msg.initEvent().initPandaStates(1);
pandaStates[0].setPandaType(cereal::PandaState::PandaType::UNKNOWN);
pm->send("pandaStates", msg);
}
std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
bool ignition_local = false;
const uint32_t pandas_cnt = pandas.size();
@@ -313,6 +301,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
pandaCanStates.reserve(pandas_cnt);
const bool red_panda_comma_three = (pandas.size() == 2) &&
(pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
(pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
for (const auto& panda : pandas){
auto health_opt = panda->get_state();
if (!health_opt) {
@@ -335,6 +327,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
health.ignition_line_pkt = 1;
}
// on comma three setups with a red panda, the dos can
// get false positive ignitions due to the harness box
// without a harness connector, so ignore it
if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
health.ignition_line_pkt = 0;
}
ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
pandaStates.push_back(health);
@@ -349,7 +348,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
}
#ifndef __x86_64__
bool power_save_desired = !ignition_local;
if (health.power_save_enabled_pkt != power_save_desired) {
panda->set_power_saving(power_save_desired);
@@ -359,7 +357,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
}
#endif
if (!panda->comms_healthy()) {
evt.setValid(false);
@@ -420,6 +417,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
cs[j].setCanfdEnabled(can_health.canfd_enabled);
cs[j].setBrsEnabled(can_health.brs_enabled);
cs[j].setCanfdNonIso(can_health.canfd_non_iso);
cs[j].setIrq0CallRate(can_health.irq0_call_rate);
cs[j].setIrq1CallRate(can_health.irq1_call_rate);
cs[j].setIrq2CallRate(can_health.irq2_call_rate);
cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt);
}
// Convert faults bitset to capnp list
@@ -463,11 +464,12 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
pm->send("peripheralState", msg);
}
void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
util::set_thread_name("boardd_panda_state");
Params params;
SubMaster sm({"controlsState", "carState"});
PubMaster pm({"pandaStates", "peripheralState"});
Panda *peripheral_panda = pandas[0];
bool is_onroad = false;
@@ -486,8 +488,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
uint64_t start_time = nanos_since_boot();
// send out peripheralState
send_peripheral_state(pm, peripheral_panda);
auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
send_peripheral_state(&pm, peripheral_panda);
auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
if (!ignition_opt) {
continue;
@@ -554,22 +556,20 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
SubMaster sm({"deviceState", "driverCameraState"});
uint64_t last_front_frame_t = 0;
uint64_t last_driver_camera_t = 0;
uint16_t prev_fan_speed = 999;
uint16_t ir_pwr = 0;
uint16_t prev_ir_pwr = 999;
unsigned int cnt = 0;
FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
while (!do_exit && panda->connected()) {
cnt++;
sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
sm.update(1000);
if (sm.updated("deviceState") && !no_fan_control) {
// Fan speed
uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) {
panda->set_fan_speed(fan_speed);
prev_fan_speed = fan_speed;
}
@@ -580,7 +580,7 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
int cur_integ_lines = event.getDriverCameraState().getIntegLines();
cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
last_front_frame_t = event.getLogMonoTime();
last_driver_camera_t = event.getLogMonoTime();
if (cur_integ_lines <= CUTOFF_IL) {
ir_pwr = 100.0 * MIN_IR_POWER;
@@ -591,48 +591,48 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
}
}
// Disable ir_pwr on front frame timeout
uint64_t cur_t = nanos_since_boot();
if (cur_t - last_front_frame_t > 1e9) {
// Disable IR on input timeout
if (nanos_since_boot() - last_driver_camera_t > 1e9) {
ir_pwr = 0;
}
if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) {
if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
panda->set_ir_pwr(ir_pwr);
prev_ir_pwr = ir_pwr;
}
// Write to rtc once per minute when no ignition present
if (!ignition && (cnt % 120 == 1)) {
if (!ignition && (sm.frame % 120 == 1)) {
sync_time(panda, SyncTimeDir::TO_PANDA);
}
}
}
void boardd_main_thread(std::vector<std::string> serials) {
PubMaster pm({"pandaStates", "peripheralState"});
LOGW("attempting to connect");
LOGW("launching boardd");
if (serials.size() == 0) {
// connect to all
serials = Panda::list();
// exit if no pandas are connected
if (serials.size() == 0) {
LOGW("no pandas found, exiting");
return;
}
}
std::string serials_str;
for (int i = 0; i < serials.size(); i++) {
serials_str += serials[i];
if (i < serials.size() - 1) serials_str += ", ";
}
LOGW("connecting to pandas: %s", serials_str.c_str());
// connect to all provided serials
std::vector<Panda *> pandas;
for (int i = 0; i < serials.size() && !do_exit; /**/) {
Panda *p = connect(serials[i], i);
if (!p) {
// send empty pandaState & peripheralState and try again
send_empty_panda_state(&pm);
send_empty_peripheral_state(&pm);
util::sleep_for(500);
util::sleep_for(100);
continue;
}
@@ -641,12 +641,12 @@ void boardd_main_thread(std::vector<std::string> serials) {
}
if (!do_exit) {
LOGW("connected to board");
Panda *peripheral_panda = pandas[0];
LOGW("connected to all pandas");
std::vector<std::thread> threads;
threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr);
threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr);
threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr);
threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
threads.emplace_back(can_recv_thread, pandas);
@@ -654,7 +654,6 @@ void boardd_main_thread(std::vector<std::string> serials) {
for (auto &t : threads) t.join();
}
// we have exited, clean up pandas
for (Panda *panda : pandas) {
delete panda;
}
selfdrive/boardd/boardd_api_impl.pyx
+8 -6
View File
@@ -4,13 +4,15 @@ from libcpp.vector cimport vector
from libcpp.string cimport string
from libcpp cimport bool
cdef struct can_frame:
long address
string dat
long busTime
long src
cdef extern from "panda.h":
cdef struct can_frame:
long address
string dat
long busTime
long src
cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
cdef extern from "can_list_to_can_capnp.cc":
void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
cdef vector[can_frame] can_list
selfdrive/boardd/can_list_to_can_capnp.cc
-4
View File
@@ -1,8 +1,6 @@
#include "cereal/messaging/messaging.h"
#include "panda.h"
extern "C" {
void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
MessageBuilder msg;
auto event = msg.initEvent(valid);
@@ -21,5 +19,3 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
capnp::writeMessage(output_stream, msg);
}
}
selfdrive/boardd/panda.cc
+15 -1
View File
@@ -18,11 +18,12 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
#ifndef __APPLE__
handle = std::make_unique<PandaSpiHandle>(serial);
LOGW("connected to %s over SPI", serial.c_str());
#else
throw e;
#endif
}
hw_type = get_hw_type();
has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
(hw_type == cereal::PandaState::PandaType::DOS) ||
(hw_type == cereal::PandaState::PandaType::TRES);
@@ -153,6 +154,19 @@ std::optional<std::string> Panda::get_serial() {
return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
}
bool Panda::up_to_date() {
if (auto fw_sig = get_firmware_version()) {
for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
if (content.size() >= fw_sig->size() &&
memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
return true;
}
}
}
return false;
}
void Panda::set_power_saving(bool power_saving) {
handle->control_write(0xe7, power_saving, 0);
}
selfdrive/boardd/panda.h
+1
View File
@@ -72,6 +72,7 @@ public:
std::optional<can_health_t> get_can_state(uint16_t can_number);
void set_loopback(bool loopback);
std::optional<std::vector<uint8_t>> get_firmware_version();
bool up_to_date();
std::optional<std::string> get_serial();
void set_power_saving(bool power_saving);
void enable_deepsleep();
selfdrive/boardd/panda_comms.h
+2 -2
View File
@@ -14,7 +14,7 @@
#define TIMEOUT 0
#define SPI_BUF_SIZE 1024
#define SPI_BUF_SIZE 2048
// comms base class
@@ -74,7 +74,7 @@ private:
uint8_t rx_buf[SPI_BUF_SIZE];
inline static std::recursive_mutex hw_lock;
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout);
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
selfdrive/boardd/pandad.py
+57 -4
View File
@@ -3,11 +3,12 @@
import os
import usb1
import time
import json
import subprocess
from typing import List, NoReturn
from functools import cmp_to_key
from panda import Panda, PandaDFU, FW_PATH
from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
from common.basedir import BASEDIR
from common.params import Params
from selfdrive.boardd.set_time import set_time
@@ -23,9 +24,56 @@ def get_expected_signature(panda: Panda) -> bytes:
cloudlog.exception("Error computing expected signature")
return b""
def read_panda_logs(panda: Panda) -> None:
"""
Forward panda logs to the cloud
"""
params = Params()
serial = panda.get_usb_serial()
log_state = {}
try:
l = json.loads(params.get("PandaLogState"))
for k, v in l.items():
if isinstance(k, str) and isinstance(v, int):
log_state[k] = v
except (TypeError, json.JSONDecodeError):
cloudlog.exception("failed to parse PandaLogState")
try:
if serial in log_state:
logs = panda.get_logs(last_id=log_state[serial])
else:
logs = panda.get_logs(get_all=True)
# truncate logs to 100 entries if needed
MAX_LOGS = 100
if len(logs) > MAX_LOGS:
cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
logs = logs[-MAX_LOGS:]
# update log state
if len(logs) > 0:
log_state[serial] = logs[-1]["id"]
for log in logs:
if log['timestamp'] is not None:
log['timestamp'] = log['timestamp'].isoformat()
cloudlog.event("panda_log", **log, serial=serial)
params.put("PandaLogState", json.dumps(log_state))
except Exception:
cloudlog.exception(f"Error getting logs for panda {serial}")
def flash_panda(panda_serial: str) -> Panda:
panda = Panda(panda_serial)
try:
panda = Panda(panda_serial)
except PandaProtocolMismatch:
cloudlog.warning("detected protocol mismatch, reflashing panda")
HARDWARE.recover_internal_panda()
raise
fw_signature = get_expected_signature(panda)
internal_panda = panda.is_internal()
@@ -45,7 +93,7 @@ def flash_panda(panda_serial: str) -> Panda:
if internal_panda:
HARDWARE.recover_internal_panda()
panda.recover(reset=(not internal_panda))
cloudlog.info("Done flashing bootloader")
cloudlog.info("Done flashing bootstub")
if panda.bootstub:
cloudlog.info("Panda still not booting, exiting")
@@ -121,7 +169,7 @@ def main() -> NoReturn:
# sort pandas to have deterministic order
pandas.sort(key=cmp_to_key(panda_sort_cmp))
panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore
panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))
# log panda fw versions
params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
@@ -133,6 +181,8 @@ def main() -> NoReturn:
params.put_bool("PandaHeartbeatLost", True)
cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
read_panda_logs(panda)
if first_run:
if panda.is_internal():
# update time from RTC
@@ -152,6 +202,9 @@ def main() -> NoReturn:
# a panda was disconnected while setting everything up. let's try again
cloudlog.exception("Panda USB exception while setting up")
continue
except PandaProtocolMismatch:
cloudlog.exception("pandad.protocol_mismatch")
continue
except Exception:
cloudlog.exception("pandad.uncaught_exception")
continue
selfdrive/boardd/spi.cc
+23 -19
View File
@@ -163,7 +163,7 @@ int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l
}
int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) {
const int xfer_size = 0x40 * 15;
const int xfer_size = SPI_BUF_SIZE - 0x40;
int ret = 0;
uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
@@ -220,27 +220,40 @@ bool check_checksum(uint8_t *data, int data_len) {
int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
int ret;
int count = 0;
int nack_count = 0;
int timeout_count = 0;
bool timed_out = false;
double start_time = millis_since_boot();
do {
ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout);
if (ret < 0) {
timed_out = (timeout != 0) && (count > 5);
count += ret == SpiError::ACK_TIMEOUT;
timed_out = (timeout != 0) && (timeout_count > 5);
timeout_count += ret == SpiError::ACK_TIMEOUT;
// give other threads a chance to run
std::this_thread::yield();
if (ret == SpiError::NACK) {
// prevent busy waiting while the panda is NACK'ing
// due to full TX buffers
nack_count += 1;
if (nack_count > 3) {
usleep(std::clamp(nack_count*10, 200, 2000));
}
}
}
} while (ret < 0 && connected && !timed_out);
if (ret < 0) {
LOGE("transfer failed, after %d tries, %.2fms", count, millis_since_boot() - start_time);
LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
}
return ret;
}
int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) {
int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length) {
double start_millis = millis_since_boot();
if (timeout == 0) {
timeout = SPI_ACK_TIMEOUT;
@@ -250,8 +263,7 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout)
spi_ioc_transfer transfer = {
.tx_buf = (uint64_t)tx_buf,
.rx_buf = (uint64_t)rx_buf,
.delay_usecs = 5,
.len = 1
.len = length
};
tx_buf[0] = tx;
@@ -311,7 +323,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
}
// Wait for (N)ACK
ret = wait_for_ack(SPI_HACK, 0x11, timeout);
ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
if (ret < 0) {
goto transfer_fail;
}
@@ -329,26 +341,18 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
}
// Wait for (N)ACK
ret = wait_for_ack(SPI_DACK, 0x13, timeout);
ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3);
if (ret < 0) {
goto transfer_fail;
}
// Read data len
transfer.len = 2;
transfer.rx_buf = (uint64_t)(rx_buf + 1);
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
if (ret < 0) {
LOGE("SPI: failed to read rx data len");
goto transfer_fail;
}
// Read data
rx_data_len = *(uint16_t *)(rx_buf+1);
if (rx_data_len >= SPI_BUF_SIZE) {
LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
goto transfer_fail;
}
// Read data
transfer.len = rx_data_len + 1;
transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
selfdrive/boardd/tests/bootstub.panda_h7.bin
BIN
View File
Binary file not shown.
selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin
Executable
BIN
View File
Binary file not shown.
selfdrive/boardd/tests/test_boardd_loopback.py
+1 -1
View File
@@ -36,7 +36,7 @@ class TestBoardd(unittest.TestCase):
params = Params()
params.put_bool("IsOnroad", False)
with Timeout(60, "boardd didn't start"):
with Timeout(90, "boardd didn't start"):
sm = messaging.SubMaster(['pandaStates'])
while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
selfdrive/boardd/tests/test_pandad.py
+43 -21
View File
@@ -6,7 +6,8 @@ import unittest
import cereal.messaging as messaging
from cereal import log
from common.gpio import gpio_set, gpio_init
from panda import Panda, PandaDFU
from common.params import Params
from panda import Panda, PandaDFU, PandaProtocolMismatch
from selfdrive.test.helpers import phone_only
from selfdrive.manager.process_config import managed_processes
from system.hardware import HARDWARE
@@ -17,23 +18,52 @@ HERE = os.path.dirname(os.path.realpath(__file__))
class TestPandad(unittest.TestCase):
def setUp(self):
self.params = Params()
self.start_log_state = self.params.get("PandaLogState")
def tearDown(self):
managed_processes['pandad'].stop()
def _wait_for_boardd(self, timeout=30):
sm = messaging.SubMaster(['peripheralState'])
for _ in range(timeout):
sm.update(1000)
for _ in range(timeout*10):
sm.update(100)
if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
break
if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
raise Exception("boardd failed to start")
# simple check that we did something with the panda logs
cur_log_state = self.params.get("PandaLogState")
assert cur_log_state != self.start_log_state
def _go_to_dfu(self):
HARDWARE.recover_internal_panda()
assert Panda.wait_for_dfu(None, 10)
def _flash_and_test(self, fn, expect_mismatch=False):
self._go_to_dfu()
pd = PandaDFU(None)
if fn is None:
fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
with open(fn, "rb") as f:
pd.program_bootstub(f.read())
pd.reset()
HARDWARE.reset_internal_panda()
assert Panda.wait_for_panda(None, 10)
if expect_mismatch:
with self.assertRaises(PandaProtocolMismatch):
Panda()
else:
with Panda() as p:
assert p.bootstub
managed_processes['pandad'].start()
self._wait_for_boardd(45)
@phone_only
def test_in_dfu(self):
HARDWARE.recover_internal_panda()
@@ -71,26 +101,18 @@ class TestPandad(unittest.TestCase):
managed_processes['pandad'].start()
self._wait_for_boardd(8)
@phone_only
def test_protocol_version_check(self):
if HARDWARE.get_device_type() == 'tici':
self.skipTest("")
# flash old fw
fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
self._flash_and_test(fn, expect_mismatch=True)
@phone_only
def test_release_to_devel_bootstub(self):
if HARDWARE.get_device_type() != 'tici':
self.skipTest("TODO: fix reset timeout")
# flash release bootstub
self._go_to_dfu()
pd = PandaDFU(None)
fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
with open(fn, "rb") as f:
pd.program_bootstub(f.read())
pd.reset()
assert Panda.wait_for_panda(None, 20)
with Panda() as p:
assert p.bootstub
managed_processes['pandad'].start()
self._wait_for_boardd(60)
self._flash_and_test(None)
if __name__ == "__main__":
unittest.main()
selfdrive/car/__init__.py
+1 -2
View File
@@ -1,5 +1,4 @@
# functions common among cars
import math
from collections import namedtuple
from typing import Dict, Optional
@@ -192,7 +191,7 @@ class CanBusBase:
def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
if CP is None:
assert fingerprint is not None
num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
else:
num = len(CP.safetyConfigs)
self.offset = 4 * (num - 1)
selfdrive/car/body/carcontroller.py
+16 -8
View File
@@ -1,5 +1,6 @@
import numpy as np
from common.params import Params
from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car.body import bodycan
@@ -23,10 +24,14 @@ class CarController:
self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
self.torque_r_filtered = 0.
self.torque_l_filtered = 0.
params = Params()
self.wheeled_body = params.get("WheeledBody")
@staticmethod
def deadband_filter(torque, deadband):
if torque > 0:
@@ -45,19 +50,22 @@ class CarController:
# Read these from the joystick
# TODO: this isn't acceleration, okay?
speed_desired = CC.actuators.accel / 5.
speed_diff_desired = -CC.actuators.steer
speed_diff_desired = -CC.actuators.steer / 2.
speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
speed_error = speed_desired - speed_measured
freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
(speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
if self.wheeled_body is None:
freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
(speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
# Clip angle error, this is enough to get up from stands
angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
# Clip angle error, this is enough to get up from stands
angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
else:
torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
turn_error = speed_diff_measured - speed_diff_desired
selfdrive/car/car_helpers.py
+6 -4
View File
@@ -83,6 +83,7 @@ interfaces = load_interfaces(interface_names)
def fingerprint(logcan, sendcan, num_pandas):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
ecu_rx_addrs = set()
params = Params()
@@ -92,11 +93,12 @@ def fingerprint(logcan, sendcan, num_pandas):
cached_params = params.get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
cached_params = None
with car.CarParams.from_bytes(cached_params) as cached_params:
if cached_params.carName == "mock":
cached_params = None
if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
if cached_params is not None and len(cached_params.carFw) > 0 and \
cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
cloudlog.warning("Using cached CarParams")
vin, vin_rx_addr = cached_params.carVin, 0
car_fw = list(cached_params.carFw)
selfdrive/car/chrysler/values.py
+8 -5
View File
@@ -1,5 +1,5 @@
from enum import IntFlag
from dataclasses import dataclass
from dataclasses import dataclass, field
from typing import Dict, List, Optional, Union
from cereal import car
@@ -72,7 +72,7 @@ RAM_CARS = RAM_DT | RAM_HD
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
car_parts: CarParts = CarParts.common([CarHarness.fca])
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
@@ -179,7 +179,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
Request(
[CHRYSLER_VERSION_REQUEST],
[CHRYSLER_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
bus=0,
),
Request(
@@ -190,8 +190,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
),
],
extra_ecus=[
(Ecu.hcp, 0x7e2, None), # manages transmission on hybrids
(Ecu.abs, 0x7e4, None), # alt address for abs on hybrids
(Ecu.hybrid, 0x7e2, None), # manages transmission on hybrids
(Ecu.abs, 0x7e4, None), # alt address for abs on hybrids
],
)
@@ -269,6 +269,7 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x753, None): [
b'04672892AB',
b'04672932AB',
b'04672932AC',
b'22DTRHD_AA',
b'68320950AH',
b'68320950AI',
@@ -295,12 +296,14 @@ FW_VERSIONS = {
b'68552788AA',
b'68552789AA',
b'68552790AA',
b'68585106AB',
b'68585109AB',
b'68585112AB',
],
(Ecu.engine, 0x7e0, None): [
b'05036065AE ',
b'05036066AE ',
b'05149592AE ',
b'05149591AD ',
b'05149846AA ',
b'05149848AA ',
selfdrive/car/disable_ecu.py
+4 -4
View File
@@ -7,22 +7,22 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
COM_CONT_RESPONSE = b''
def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
"""Silence an ECU by disabling sending and receiving messages using UDS 0x28.
The ECU will stay silent as long as openpilot keeps sending Tester Present.
This is used to disable the radar in some cars. Openpilot will emulate the radar.
WARNING: THIS DISABLES AEB!"""
cloudlog.warning(f"ecu disable {hex(addr)} ...")
cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
for i in range(retry):
try:
query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
for _, _ in query.get_data(timeout).items():
cloudlog.warning("communication control disable tx/rx ...")
query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
query.get_data(0)
cloudlog.warning("ecu disabled")
selfdrive/car/docs.py
+2 -1
View File
@@ -29,7 +29,8 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False, docs=True)
# If available, uses experimental longitudinal limits for the docs
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
if CP.dashcamOnly or car_info is None:
continue
selfdrive/car/docs_definitions.py
+9 -5
View File
@@ -1,5 +1,6 @@
import re
from collections import namedtuple
import copy
from dataclasses import dataclass, field
from enum import Enum
from typing import Dict, List, Optional, Tuple, Union
@@ -144,8 +145,11 @@ DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
class CarParts:
parts: List[EnumBase] = field(default_factory=list)
def __call__(self):
return copy.deepcopy(self)
@classmethod
def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None):
def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = None):
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
return cls(p)
@@ -225,7 +229,7 @@ class CarInfo:
auto_resume: Optional[bool] = None
# all the parts needed for the supported car
car_parts: CarParts = CarParts()
car_parts: CarParts = field(default_factory=CarParts)
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
self.car_name = CP.carName
@@ -234,14 +238,14 @@ class CarInfo:
# longitudinal column
op_long = "Stock"
if CP.openpilotLongitudinalControl and not CP.enableDsu:
op_long = "openpilot"
elif CP.experimentalLongitudinalAvailable or CP.enableDsu:
if CP.experimentalLongitudinalAvailable or CP.enableDsu:
op_long = "openpilot available"
if CP.enableDsu:
self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
else:
self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
elif CP.openpilotLongitudinalControl and not CP.enableDsu:
op_long = "openpilot"
# min steer & enable speed columns
# TODO: set all the min steer speeds in carParams and remove this
selfdrive/car/ford/carcontroller.py
+4 -3
View File
@@ -4,7 +4,7 @@ from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_angle_limits
from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
from selfdrive.car.ford.values import CANFD_CARS, CarControllerParams
from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
LongCtrlState = car.CarControl.Actuators.LongControlState
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -43,6 +43,7 @@ class CarController:
main_on = CS.out.cruiseState.available
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
### acc buttons ###
if CC.cruiseControl.cancel:
@@ -68,7 +69,7 @@ class CarController:
self.apply_curvature_last = apply_curvature
if self.CP.carFingerprint in CANFD_CARS:
if self.CP.carFingerprint in CANFD_CAR:
# TODO: extended mode
mode = 1 if CC.latActive else 0
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
@@ -100,7 +101,7 @@ class CarController:
# send acc ui msg at 5Hz or if ui state changes
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
CS.out.cruiseState.standstill, hud_control,
fcw_alert, CS.out.cruiseState.standstill, hud_control,
CS.acc_tja_status_stock_values))
self.main_on_last = main_on
selfdrive/car/ford/carstate.py
+32 -5
View File
@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import DBC, CarControllerParams
from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType
@@ -55,6 +55,10 @@ class CarState(CarStateBase):
ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
# ret.espDisabled = False # TODO: find traction control signal
if self.CP.carFingerprint in CANFD_CAR:
# this signal is always 0 on non-CAN FD cars
ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
# cruise state
ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
@@ -62,6 +66,8 @@ class CarState(CarStateBase):
ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
if not self.CP.openpilotLongitudinalControl:
ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
# gear
if self.CP.transmissionType == TransmissionType.automatic:
@@ -91,8 +97,9 @@ class CarState(CarStateBase):
# blindspot sensors
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp
ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
# Stock steering buttons so that we can passthru blinkers etc.
self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
@@ -179,12 +186,19 @@ class CarState(CarStateBase):
("Cluster_Info1_FD1", 10),
("SteeringPinion_Data", 100),
("EPAS_INFO", 50),
("Lane_Assist_Data3_FD1", 33),
("Steering_Data_FD1", 10),
("BodyInfo_3_FD1", 2),
("RCMStatusMessage2_FD1", 10),
]
if CP.carFingerprint in CANFD_CAR:
signals += [
("LatCtlSte_D_Stat", "Lane_Assist_Data3_FD1"), # PSCM lateral control status
]
checks += [
("Lane_Assist_Data3_FD1", 33),
]
if CP.transmissionType == TransmissionType.automatic:
signals += [
("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position
@@ -202,7 +216,7 @@ class CarState(CarStateBase):
("BCM_Lamp_Stat_FD1", 1),
]
if CP.enableBsm:
if CP.enableBsm and CP.carFingerprint not in CANFD_CAR:
signals += [
("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left
("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right
@@ -218,6 +232,8 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address
("CmbbDeny_B_Actl", "ACCDATA"), # ACC/AEB unavailable/lockout
("CmbbBrkDecel_B_Rq", "ACCDATA_2"), # AEB actuation request bit
("HaDsply_No_Cs", "ACCDATA_3"),
@@ -264,9 +280,20 @@ class CarState(CarStateBase):
checks = [
# sig_address, frequency
("ACCDATA", 50),
("ACCDATA_2", 50),
("ACCDATA_3", 5),
("IPMA_Data", 1),
]
if CP.enableBsm and CP.carFingerprint in CANFD_CAR:
signals += [
("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left
("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right
]
checks += [
("Side_Detect_L_Stat", 5),
("Side_Detect_R_Stat", 5),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).camera)
selfdrive/car/ford/fordcan.py
+9 -5
View File
@@ -13,15 +13,15 @@ class CanBus(CanBusBase):
return self.offset
@property
def radar(self):
def radar(self) -> int:
return self.offset + 1
@property
def camera(self):
def camera(self) -> int:
return self.offset + 2
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
curvature = (dat[2] << 3) | ((dat[3]) >> 5)
curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
@@ -142,8 +142,8 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
return packer.make_can_msg("ACCDATA", CAN.main, values)
def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
stock_values: dict):
def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
hud_control, stock_values: dict):
"""
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
assist status.
@@ -214,6 +214,10 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, sta
"AccTGap_D_Dsply": 4, # Fixed time gap in UI
})
# Forwards FCW alert from IPMA
if fcw_alert:
values["FcwVisblWarn_B_Rq"] = 1 # FCW visible alert
return packer.make_can_msg("ACCDATA_3", CAN.main, values)
selfdrive/car/ford/interface.py
+11 -6
View File
@@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import CAR, Ecu
from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
from selfdrive.car.interfaces import CarInterfaceBase
TransmissionType = car.CarParams.TransmissionType
@@ -15,11 +15,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "ford"
# These cars are dashcam only for lack of test coverage.
# Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.FOCUS_MK4}
ret.dashcamOnly = candidate in {CAR.F_150_MK14}
ret.radarUnavailable = True
ret.steerControlType = car.CarParams.SteerControlType.angle
@@ -37,6 +33,9 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
ret.openpilotLongitudinalControl = True
if candidate in CANFD_CAR:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7
@@ -52,6 +51,12 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.8
ret.mass = 2050 + STD_CARGO_KG
elif candidate == CAR.F_150_MK14:
# required trim only on SuperCrew
ret.wheelbase = 3.69
ret.steerRatio = 17.0
ret.mass = 2000 + STD_CARGO_KG
elif candidate == CAR.FOCUS_MK4:
ret.wheelbase = 2.7
ret.steerRatio = 15.0
selfdrive/car/ford/values.py
+51 -8
View File
@@ -1,10 +1,12 @@
from collections import defaultdict
from dataclasses import dataclass
from typing import Dict, List, Set, Union
from dataclasses import dataclass, field
from enum import Enum
from typing import Dict, List, Union
from cereal import car
from selfdrive.car import AngleRateLimit, dbc_dict
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
Device
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
@@ -42,11 +44,12 @@ class CAR:
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
F_150_MK14 = "FORD F-150 14TH GEN"
FOCUS_MK4 = "FORD FOCUS 4TH GEN"
MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
CANFD_CARS: Set[str] = set()
CANFD_CAR = {CAR.F_150_MK14}
class RADAR:
@@ -56,11 +59,22 @@ class RADAR:
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
# F-150 radar is not yet supported
DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
class Footnote(Enum):
FOCUS = CarFootnote(
"Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
"North and South America/Southeast Asia.",
Column.MODEL,
)
@dataclass
class FordCarInfo(CarInfo):
package: str = "Co-Pilot360 Assist+"
car_parts: CarParts = CarParts.common([CarHarness.ford_q3])
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3]))
def init_make(self, CP: car.CarParams):
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
@@ -77,22 +91,28 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
FordCarInfo("Ford Explorer 2020-22"),
FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
],
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# CAN and CAN FD queries are combined.
# FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
# TODO: properly handle auxiliary requests to separate queries and add back whitelists
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine],
# whitelist_ecus=[Ecu.engine],
auxiliary=True,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
# whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
bus=0,
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
auxiliary=True,
),
],
extra_ecus=[
@@ -119,6 +139,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x7E0, None): [
b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.ESCAPE_MK4: {
@@ -129,6 +150,7 @@ FW_VERSIONS = {
],
(Ecu.abs, 0x760, None): [
b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
@@ -142,9 +164,11 @@ FW_VERSIONS = {
(Ecu.engine, 0x7E0, None): [
b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
@@ -154,6 +178,7 @@ FW_VERSIONS = {
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -178,9 +203,27 @@ FW_VERSIONS = {
b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.F_150_MK14: {
(Ecu.eps, 0x730, None): [
b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7E0, None): [
b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FOCUS_MK4: {
(Ecu.eps, 0x730, None): [
b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
selfdrive/car/gm/carcontroller.py
+6 -1
View File
@@ -85,6 +85,7 @@ class CarController:
if self.CP.openpilotLongitudinalControl:
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
stopping = actuators.longControlState == LongCtrlState.stopping
if not CC.longActive:
# ASCM sends max regen when not enabled
self.apply_gas = self.params.INACTIVE_REGEN
@@ -92,6 +93,10 @@ class CarController:
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop
if stopping:
self.apply_gas = self.params.INACTIVE_REGEN
idx = (self.frame // 4) % 4
@@ -101,7 +106,7 @@ class CarController:
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera:
at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping
at_full_stop = at_full_stop and stopping
friction_brake_bus = CanBus.POWERTRAIN
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
selfdrive/car/gm/interface.py
+20 -16
View File
@@ -19,6 +19,12 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
NON_LINEAR_TORQUE_PARAMS = {
CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772]
}
class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
@@ -31,23 +37,14 @@ class CarInterface(CarInterfaceBase):
sigmoid = desired_angle / (1 + fabs(desired_angle))
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
@staticmethod
def get_steer_feedforward_acadia(desired_angle, v_ego):
desired_angle *= 0.09760208
sigmoid = desired_angle / (1 + fabs(desired_angle))
return 0.04689655 * sigmoid * (v_ego + 10.028217)
def get_steer_feedforward_function(self):
if self.CP.carFingerprint == CAR.VOLT:
return self.get_steer_feedforward_volt
elif self.CP.carFingerprint == CAR.ACADIA:
return self.get_steer_feedforward_acadia
else:
return CarInterfaceBase.get_steer_feedforward_default
@staticmethod
def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
def torque_from_lateral_accel_siglin(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
def sig(val):
@@ -57,14 +54,15 @@ class CarInterface(CarInterfaceBase):
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
# This has big effect on the stability about 0 (noise when going straight)
# ToDo: To generalize to other GMs, explore tanh function as the nonlinear
a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178] # weights computed offline
non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
assert non_linear_torque_params, "The params are not defined"
a, b, c, _ = non_linear_torque_params
steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c)
return float(steer_torque) + friction
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint == CAR.BOLT_EUV:
return self.torque_from_lateral_accel_bolt
if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
return self.torque_from_lateral_accel_siglin
else:
return self.torque_from_lateral_accel_linear
@@ -169,7 +167,8 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_LACROSSE:
ret.mass = 1712. + STD_CARGO_KG
@@ -224,6 +223,11 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
tire_stiffness_factor = 1.0
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future
if ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX:
selfdrive/car/gm/tests/__init__.py
View File
selfdrive/car/gm/tests/test_gm.py
Executable
+27
View File
@@ -0,0 +1,27 @@
#!/usr/bin/env python3
from parameterized import parameterized
import unittest
from selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
class TestGMFingerprint(unittest.TestCase):
@parameterized.expand(FINGERPRINTS.items())
def test_can_fingerprints(self, car_model, fingerprints):
self.assertGreater(len(fingerprints), 0)
# Trailblazer is in dashcam
if car_model != CAR.TRAILBLAZER:
self.assertTrue(all(len(finger) for finger in fingerprints))
# The camera can sometimes be communicating on startup
if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
for finger in fingerprints:
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
self.assertEqual(finger.get(required_addr), 8, required_addr)
if __name__ == "__main__":
unittest.main()
selfdrive/car/gm/values.py
+6 -4
View File
@@ -199,24 +199,26 @@ FINGERPRINTS = {
}],
CAR.BOLT_EUV: [
{
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
CAR.SILVERADO: [
{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
CAR.EQUINOX: [
{
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
# Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
# TODO: split with FW versions
CAR.TRAILBLAZER: [
{
# 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
# 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
}],
}
GM_RX_OFFSET = 0x400
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
selfdrive/car/hyundai/carcontroller.py
+1 -1
View File
@@ -229,7 +229,7 @@ class CarController:
# cruise cancel
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info))
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame
else:
for _ in range(20):
selfdrive/car/hyundai/carstate.py
-1
View File
@@ -666,7 +666,6 @@ class CarState(CarStateBase):
("NEW_SIGNAL_1", "SCC_CONTROL"),
("MainMode_ACC", "SCC_CONTROL"),
("ACCMode", "SCC_CONTROL"),
("CRUISE_INACTIVE", "SCC_CONTROL"),
("ZEROS_9", "SCC_CONTROL"),
("CRUISE_STANDSTILL", "SCC_CONTROL"),
("ZEROS_5", "SCC_CONTROL"),
selfdrive/car/hyundai/hyundaican.py
+31 -2
View File
@@ -8,7 +8,23 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
left_lane, right_lane,
left_lane_depart, right_lane_depart,
lateral_paused, blinking_icon):
values = lkas11
values = {s: lkas11[s] for s in [
"CF_Lkas_LdwsActivemode",
"CF_Lkas_LdwsSysState",
"CF_Lkas_SysWarning",
"CF_Lkas_LdwsLHWarning",
"CF_Lkas_LdwsRHWarning",
"CF_Lkas_HbaLamp",
"CF_Lkas_FcwBasReq",
"CF_Lkas_HbaSysState",
"CF_Lkas_FcwOpt",
"CF_Lkas_HbaOpt",
"CF_Lkas_FcwSysState",
"CF_Lkas_FcwCollisionWarning",
"CF_Lkas_FusionState",
"CF_Lkas_FcwOpt_USM",
"CF_Lkas_LdwsOpt_USM",
]}
values["CF_Lkas_LdwsSysState"] = sys_state
values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
@@ -82,7 +98,20 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
def create_clu11(packer, frame, clu11, button, car_fingerprint):
values = clu11
values = {s: clu11[s] for s in [
"CF_Clu_CruiseSwState",
"CF_Clu_CruiseSwMain",
"CF_Clu_SldMainSW",
"CF_Clu_ParityBit1",
"CF_Clu_VanzDecimal",
"CF_Clu_Vanz",
"CF_Clu_SPEED_UNIT",
"CF_Clu_DetentOut",
"CF_Clu_RheostatLevel",
"CF_Clu_CluInfo",
"CF_Clu_AmpInfo",
"CF_Clu_AliveCnt1",
]}
values["CF_Clu_CruiseSwState"] = button
values["CF_Clu_AliveCnt1"] = frame % 0x10
# send buttons to camera on camera-scc based cars
selfdrive/car/hyundai/hyundaicanfd.py
+30 -7
View File
@@ -60,11 +60,11 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer ,
return ret
def create_cam_0x2a4(packer, CAN, camera_values):
camera_values.update({
"BYTE7": 0,
})
return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values)
def create_cam_0x2a4(packer, CAN, cam_0x2a4):
values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)}
values['COUNTER'] = cam_0x2a4['COUNTER']
values["BYTE7"] = 0
return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
def create_buttons(packer, CP, CAN, cnt, btn):
values = {
@@ -76,10 +76,33 @@ def create_buttons(packer, CP, CAN, cnt, btn):
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def create_acc_cancel(packer, CAN, cruise_info_copy):
values = cruise_info_copy
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# TODO: why do we copy different values here?
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"NEW_SIGNAL_1",
"MainMode_ACC",
"ACCMode",
"ZEROS_9",
"CRUISE_STANDSTILL",
"ZEROS_5",
"DISTANCE_SETTING",
"VSetDis",
]}
else:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"ACCMode",
"VSetDis",
"CRUISE_STANDSTILL",
]}
values.update({
"ACCMode": 4,
"aReqRaw": 0.0,
"aReqValue": 0.0,
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
selfdrive/car/hyundai/interface.py
+9 -5
View File
@@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6}
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
CAN = CanBus(None, hda2, fingerprint)
@@ -192,10 +192,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.9
ret.steerRatio = 16.
tire_stiffness_factor = 0.65
elif candidate == CAR.IONIQ_5:
ret.mass = 2012 + STD_CARGO_KG
ret.wheelbase = 3.0
ret.steerRatio = 16.
elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
ret.mass = 1948 + STD_CARGO_KG
ret.wheelbase = 2.97
ret.steerRatio = 14.26
tire_stiffness_factor = 0.65
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only
@@ -208,6 +208,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
else:
ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
ret.mass = 2087. + STD_CARGO_KG
ret.wheelbase = 3.09
ret.steerRatio = 14.23
# Genesis
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
selfdrive/car/hyundai/tests/test_hyundai.py
+14
View File
@@ -52,6 +52,20 @@ class TestHyundaiFingerprint(unittest.TestCase):
self.assertEqual(len(ecus_not_in_whitelist), 0,
f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
def test_blacklisted_parts(self):
# Asserts no ECUs known to be shared across platforms exist in the database.
# Tucson having Santa Cruz camera and EPS for example
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model):
if car_model == CAR.SANTA_CRUZ_1ST_GEN:
raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
if b"-" not in code:
continue
part = code.split(b"-")[1]
self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
# fingerprint in the absence of full FW matches:
def test_platform_code_ecus_available(self):
selfdrive/car/hyundai/values.py
+53 -10
View File
@@ -99,6 +99,7 @@ class CAR:
VELOSTER = "HYUNDAI VELOSTER 2019"
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
IONIQ_6 = "HYUNDAI IONIQ 6 2023"
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
@@ -127,6 +128,7 @@ class CAR:
KIA_STINGER_2022 = "KIA STINGER 2022"
KIA_CEED = "KIA CEED INTRO ED 2019"
KIA_EV6 = "KIA EV6 2022"
KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"
# Genesis
GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
@@ -179,7 +181,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -193,12 +195,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.IONIQ_5: [
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
CAR.IONIQ_6: [
HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), # TODO: unknown
HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
],
CAR.TUCSON_4TH_GEN: [
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
@@ -251,6 +257,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
CAR.KIA_CARNIVAL_4TH_GEN: [
HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
# Genesis
CAR.GENESIS_GV60_EV_1ST_GEN: [
@@ -648,6 +658,7 @@ FW_VERSIONS = {
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ',
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ',
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ',
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ',
],
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@@ -662,6 +673,7 @@ FW_VERSIONS = {
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81HM6M1_0a0_F00',
@@ -676,6 +688,7 @@ FW_VERSIONS = {
b'\xf1\x87391162M003',
b'\xf1\x87391162M013',
b'\xf1\x87391162M023',
b'\xf1\x87391162M010',
b'HM6M1_0a0_F00',
b'HM6M1_0a0_G20',
b'HM6M2_0a0_BD0',
@@ -699,11 +712,13 @@ FW_VERSIONS = {
b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422',
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016',
b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705',
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716',
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016',
@@ -716,6 +731,7 @@ FW_VERSIONS = {
b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%',
b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p',
b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -901,6 +917,7 @@ FW_VERSIONS = {
b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
@@ -913,6 +930,7 @@ FW_VERSIONS = {
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
b'\xf1\x81HM6M2_0a0_G00',
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19',
@@ -923,6 +941,7 @@ FW_VERSIONS = {
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720',
b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224',
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205',
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa',
@@ -938,6 +957,7 @@ FW_VERSIONS = {
b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5',
b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5',
],
},
CAR.SANTA_FE_HEV_2022: {
@@ -1743,8 +1763,8 @@ FW_VERSIONS = {
},
CAR.SONATA_HYBRID: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',
b'\xf1\x8799110L5000\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',
b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',
b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',
b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
],
@@ -1752,23 +1772,27 @@ FW_VERSIONS = {
b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016',
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109',
b'\xf1\000DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325',
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\000PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
b'\xf1\000PSBG2323 E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',
b'\xf1\000PSBG2333 E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
b'\xf1\x87PCU\000\000\000\000\000\000\000\000\000\xf1\x81E16\000\000\000\000\000\000\000\xf1\000PSBG2333 E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391162J012',
b'\xf1\x87391162J013',
b'\xf1\x87391162J014',
b'\xf1\x87391062J002',
],
},
@@ -1828,11 +1852,18 @@ FW_VERSIONS = {
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401',
],
},
CAR.IONIQ_6: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213',
],
},
CAR.TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
@@ -1930,6 +1961,16 @@ FW_VERSIONS = {
b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ',
],
},
CAR.KIA_CARNIVAL_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221',
b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ',
b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ',
],
},
}
CHECKSUM = {
@@ -1944,16 +1985,16 @@ CAN_GEARS = {
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80}
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} # these cars use a different gas signal
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
@@ -2016,6 +2057,7 @@ DBC = {
CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
@@ -2026,4 +2068,5 @@ DBC = {
CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
}
selfdrive/car/interfaces.py
+1 -2
View File
@@ -164,8 +164,7 @@ class CarInterfaceBase(ABC):
def get_steer_feedforward_function(self):
return self.get_steer_feedforward_default
@staticmethod
def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
def torque_from_lateral_accel_linear(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
# The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
selfdrive/car/isotp_parallel_query.py
+7 -1
View File
@@ -115,7 +115,13 @@ class IsoTpParallelQuery:
addrs_responded.add(tx_addr)
response_timeouts[tx_addr] = time.monotonic() + timeout
if not dat:
if dat is None:
continue
# Log unexpected empty responses
if len(dat) == 0:
cloudlog.error(f"iso-tp query empty response: {tx_addr}")
request_done[tx_addr] = True
continue
counter = request_counter[tx_addr]
selfdrive/car/mazda/values.py
+15 -2
View File
@@ -1,4 +1,4 @@
from dataclasses import dataclass
from dataclasses import dataclass, field
from typing import Dict, List, Union
from cereal import car
@@ -45,7 +45,7 @@ BUTTON_STATES = {
@dataclass
class MazdaCarInfo(CarInfo):
package: str = "All"
car_parts: CarParts = CarParts.common([CarHarness.mazda])
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
@@ -78,6 +78,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
),
# Log responses on powertrain bus
Request(
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
bus=0,
logging=True,
),
],
)
@@ -89,6 +96,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [
b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
@@ -101,10 +109,12 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x706, None): [
b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
@@ -186,6 +196,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [
b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -210,10 +221,12 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x706, None): [
b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
selfdrive/car/nissan/values.py
+4 -4
View File
@@ -1,4 +1,4 @@
from dataclasses import dataclass
from dataclasses import dataclass, field
from typing import Dict, List, Optional, Union
from cereal import car
@@ -33,7 +33,7 @@ class CAR:
@dataclass
class NissanCarInfo(CarInfo):
package: str = "ProPILOT Assist"
car_parts: CarParts = CarParts.common([CarHarness.nissan_a])
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
@@ -79,8 +79,8 @@ FINGERPRINTS = {
]
}
NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81])
NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
selfdrive/car/subaru/carcontroller.py
+3 -4
View File
@@ -1,7 +1,7 @@
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_driver_steer_torque_limits
from selfdrive.car.subaru import subarucan
from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams, SubaruFlags
from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags
class CarController:
@@ -44,7 +44,6 @@ class CarController:
# *** alerts and pcm cancel ***
if self.CP.carFingerprint in PREGLOBAL_CARS:
if self.frame % 5 == 0:
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
@@ -66,7 +65,7 @@ class CarController:
else:
if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
self.last_cancel_frame = self.frame
@@ -78,7 +77,7 @@ class CarController:
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
selfdrive/car/subaru/carstate.py
+31 -23
View File
@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
from common.conversions import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags
class CarState(CarStateBase):
@@ -84,6 +84,7 @@ class CarState(CarStateBase):
cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
if self.car_fingerprint in PREGLOBAL_CARS:
self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
@@ -91,19 +92,22 @@ class CarState(CarStateBase):
ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
(cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
# 8 is known AEB, there are a few other values related to AEB we ignore
ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
(cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"])
self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
return ret
@staticmethod
def get_common_global_signals():
def get_common_global_body_signals():
signals = [
("Cruise_On", "CruiseControl"),
("Cruise_Activated", "CruiseControl"),
@@ -122,8 +126,10 @@ class CarState(CarStateBase):
return signals, checks
@staticmethod
def get_global_es_distance_signals():
def get_common_global_es_signals():
signals = [
("AEB_Status", "ES_Brake"),
("Brake_Pressure", "ES_Brake"),
("COUNTER", "ES_Distance"),
("CHECKSUM", "ES_Distance"),
("Signal1", "ES_Distance"),
@@ -145,7 +151,9 @@ class CarState(CarStateBase):
("Cruise_Resume", "ES_Distance"),
("Signal6", "ES_Distance"),
]
checks = [
("ES_Brake", 20),
("ES_Distance", 20),
]
@@ -192,8 +200,8 @@ class CarState(CarStateBase):
if CP.carFingerprint not in PREGLOBAL_CARS:
if CP.carFingerprint not in GLOBAL_GEN2:
signals += CarState.get_common_global_signals()[0]
checks += CarState.get_common_global_signals()[1]
signals += CarState.get_common_global_body_signals()[0]
checks += CarState.get_common_global_body_signals()[1]
signals += [
("Steer_Warning", "Steering_Torque"),
@@ -232,7 +240,7 @@ class CarState(CarStateBase):
("CruiseControl", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.main)
@staticmethod
def get_cam_can_parser(CP):
@@ -320,28 +328,28 @@ class CarState(CarStateBase):
]
if CP.carFingerprint not in GLOBAL_GEN2:
signals += CarState.get_global_es_distance_signals()[0]
checks += CarState.get_global_es_distance_signals()[1]
signals += CarState.get_common_global_es_signals()[0]
checks += CarState.get_common_global_es_signals()[1]
if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
signals += [
("COUNTER", "INFOTAINMENT_STATUS"),
("CHECKSUM", "INFOTAINMENT_STATUS"),
("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"),
("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"),
("Signal1", "INFOTAINMENT_STATUS"),
("Signal2", "INFOTAINMENT_STATUS"),
("COUNTER", "ES_Infotainment"),
("CHECKSUM", "ES_Infotainment"),
("LKAS_State_Infotainment", "ES_Infotainment"),
("LKAS_Blue_Lines", "ES_Infotainment"),
("Signal1", "ES_Infotainment"),
("Signal2", "ES_Infotainment"),
]
checks.append(("INFOTAINMENT_STATUS", 10))
checks.append(("ES_Infotainment", 10))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.camera)
@staticmethod
def get_body_can_parser(CP):
if CP.carFingerprint in GLOBAL_GEN2:
signals, checks = CarState.get_common_global_signals()
signals += CarState.get_global_es_distance_signals()[0]
checks += CarState.get_global_es_distance_signals()[1]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
signals, checks = CarState.get_common_global_body_signals()
signals += CarState.get_common_global_es_signals()[0]
checks += CarState.get_common_global_es_signals()[1]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.alt)
return None
selfdrive/car/subaru/subarucan.py
+8 -7
View File
@@ -1,4 +1,5 @@
from cereal import car
from selfdrive.car.subaru.values import CanBus
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -105,7 +106,7 @@ def create_es_lkas_state(packer, es_lkas_state_msg, lat_active, mads_enabled, vi
values["LKAS_Left_Line_Visible"] = int(left_line)
values["LKAS_Right_Line_Visible"] = int(right_line)
return packer.make_can_msg("ES_LKAS_State", 0, values)
return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
def create_es_dashstatus(packer, dashstatus_msg):
@@ -143,12 +144,12 @@ def create_es_dashstatus(packer, dashstatus_msg):
if values["LKAS_State_Msg"] in (2, 3):
values["LKAS_State_Msg"] = 0
return packer.make_can_msg("ES_DashStatus", 0, values)
return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
values = {s: infotainmentstatus_msg[s] for s in [
values = {s: es_infotainment_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"LKAS_State_Infotainment",
@@ -167,7 +168,7 @@ def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
if visual_alert == VisualAlert.fcw:
values["LKAS_State_Infotainment"] = 2
return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values)
return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
# *** Subaru Pre-global ***
@@ -188,7 +189,7 @@ def create_preglobal_steering_control(packer, apply_steer, steer_req, frame, ste
}
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
return packer.make_can_msg("ES_LKAS", 0, values)
return packer.make_can_msg("ES_LKAS", CanBus.main, values)
def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
@@ -215,4 +216,4 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
values["Cruise_Button"] = cruise_button
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
return packer.make_can_msg("ES_Distance", 0, values)
return packer.make_can_msg("ES_Distance", CanBus.main, values)
selfdrive/car/subaru/values.py
+17 -4
View File
@@ -1,12 +1,12 @@
from dataclasses import dataclass
from enum import IntFlag
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from panda import Panda
from typing import Dict, List, Union
from cereal import car
from panda.python import uds
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
@@ -37,6 +37,12 @@ class SubaruFlags(IntFlag):
SEND_INFOTAINMENT = 1
class CanBus:
main = 0
alt = 1
camera = 2
class CAR:
# Global platform
ASCENT = "SUBARU ASCENT LIMITED 2019"
@@ -53,10 +59,17 @@ class CAR:
OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
class Footnote(Enum):
GLOBAL = CarFootnote(
"In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
Column.PACKAGE)
@dataclass
class SubaruCarInfo(CarInfo):
package: str = "EyeSight Driver Assistance"
car_parts: CarParts = CarParts.common([CarHarness.subaru_a])
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
selfdrive/car/tests/routes.py
+5 -1
View File
@@ -16,12 +16,13 @@ from selfdrive.car.body.values import CAR as COMMA
# TODO: add routes for these cars
non_tested_cars = [
FORD.FOCUS_MK4,
FORD.F_150_MK14,
GM.CADILLAC_ATS,
GM.HOLDEN_ASTRA,
GM.MALIBU,
GM.EQUINOX,
HYUNDAI.GENESIS_G90,
HYUNDAI.IONIQ_6,
HYUNDAI.KIA_OPTIMA_H,
HONDA.ODYSSEY_CHN,
VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter
@@ -47,6 +48,7 @@ routes = [
CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
#TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
@@ -98,6 +100,8 @@ routes = [
CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN), # Chinese model
CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
selfdrive/car/tests/test_car_interfaces.py
+42 -18
View File
@@ -1,35 +1,55 @@
#!/usr/bin/env python3
import math
import unittest
import hypothesis.strategies as st
from hypothesis import given, settings
import importlib
from parameterized import parameterized
from cereal import car
from common.realtime import DT_CTRL
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
from selfdrive.test.fuzzy_generation import get_random_msg
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
# Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800),
st.integers(min_value=0, max_value=64)) for key in
gen_empty_fingerprint()})
# just the most important fields
car_fw_strategy = st.lists(st.fixed_dictionaries({
'ecu': st.sampled_from(list(car.CarParams.Ecu.schema.enumerants.keys())),
# TODO: only use reasonable addrs for the paired ecu and brand/platform
'address': st.integers(min_value=0, max_value=0x800),
}))
params_strategy = st.fixed_dictionaries({
'fingerprints': fingerprint_strategy,
'car_fw': car_fw_strategy,
'experimental_long': st.booleans(),
})
params: dict = draw(params_strategy)
params['car_fw'] = [car.CarParams.CarFw(**fw) for fw in params['car_fw']]
return params
class TestCarInterfaces(unittest.TestCase):
@parameterized.expand([(car,) for car in all_known_cars()])
@parameterized.expand([(car,) for car in sorted(all_known_cars())])
@settings(max_examples=5)
@given(cc_msg=get_random_msg(car.CarControl, real_floats=True))
def test_car_interfaces(self, car_name, cc_msg):
if car_name in FINGERPRINTS:
fingerprint = FINGERPRINTS[car_name][0]
else:
fingerprint = {}
@given(data=st.data())
def test_car_interfaces(self, car_name, data):
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = gen_empty_fingerprint()
fingerprints.update({k: fingerprint for k in fingerprints.keys()})
car_fw = []
args = get_fuzzy_car_interface_args(data.draw)
car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False)
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
experimental_long=args['experimental_long'], docs=False)
car_interface = CarInterface(car_params, CarController, CarState)
assert car_params
assert car_interface
@@ -60,19 +80,23 @@ class TestCarInterfaces(unittest.TestCase):
elif tune.which() == 'indi':
self.assertTrue(len(tune.indi.outerLoopGainV))
cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
# Run car interface
now_nanos = 0
CC = car.CarControl.new_message(**cc_msg)
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC, 0)
car_interface.apply(CC, 0)
car_interface.apply(CC, now_nanos)
car_interface.apply(CC, now_nanos)
now_nanos += DT_CTRL * 1e9 # 10 ms
CC = car.CarControl.new_message(**cc_msg)
CC.enabled = True
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC, 0)
car_interface.apply(CC, 0)
car_interface.apply(CC, now_nanos)
car_interface.apply(CC, now_nanos)
now_nanos += DT_CTRL * 1e9 # 10ms
# Test radar interface
RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
selfdrive/car/tests/test_fw_fingerprint.py
+60 -25
View File
@@ -10,7 +10,8 @@ from cereal import car
from common.params import Params
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions, get_present_ecus
from selfdrive.car.vin import get_vin
CarFw = car.CarParams.CarFw
Ecu = car.CarParams.Ecu
@@ -157,36 +158,69 @@ class TestFwFingerprint(unittest.TestCase):
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}')
def test_fw_requests(self):
# Asserts equal length request and response lists
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand):
for request_obj in config.requests:
self.assertEqual(len(request_obj.request), len(request_obj.response))
class TestFwFingerprintTiming(unittest.TestCase):
N: int = 5
TOL: float = 0.1
@staticmethod
def _benchmark(brand, num_pandas, n):
def _run_thread(thread: threading.Thread) -> float:
params = Params()
params.put_bool("ObdMultiplexingEnabled", True)
thread.start()
t = time.perf_counter()
while thread.is_alive():
time.sleep(0.02)
if not params.get_bool("ObdMultiplexingChanged"):
params.put_bool("ObdMultiplexingChanged", True)
return time.perf_counter() - t
def _benchmark_brand(self, brand, num_pandas):
fake_socket = FakeSocket()
brand_time = 0
for _ in range(self.N):
thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
kwargs=dict(num_pandas=num_pandas))
brand_time += self._run_thread(thread)
times = []
for _ in range(n):
params.put_bool("ObdMultiplexingEnabled", True)
thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas))
thread.start()
t = time.perf_counter()
while thread.is_alive():
time.sleep(0.02)
if not params.get_bool("ObdMultiplexingChanged"):
params.put_bool("ObdMultiplexingChanged", True)
times.append(time.perf_counter() - t)
return round(brand_time / self.N, 2)
return round(sum(times) / len(times), 2)
def _assert_timing(self, avg_time, ref_time):
self.assertLess(avg_time, ref_time + self.TOL)
self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.")
def _assert_timing(self, avg_time, ref_time, tol):
self.assertLess(avg_time, ref_time + tol)
self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")
def test_startup_timing(self):
# Tests worse-case VIN query time and typical present ECU query time
vin_ref_time = 1.0
present_ecu_ref_time = 0.8
fake_socket = FakeSocket()
present_ecu_time = 0.0
for _ in range(self.N):
thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket),
kwargs=dict(num_pandas=2))
present_ecu_time += self._run_thread(thread)
self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time)
print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds')
vin_time = 0.0
for _ in range(self.N):
thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1))
vin_time += self._run_thread(thread)
self._assert_timing(vin_time / self.N, vin_ref_time)
print(f'get_vin, query time={vin_time / self.N} seconds')
def test_fw_query_timing(self):
tol = 0.1
total_ref_time = 4.6
total_ref_time = 6.0
brand_ref_times = {
1: {
'body': 0.1,
@@ -194,14 +228,15 @@ class TestFwFingerprintTiming(unittest.TestCase):
'ford': 0.2,
'honda': 0.5,
'hyundai': 0.7,
'mazda': 0.1,
'mazda': 0.2,
'nissan': 0.3,
'subaru': 0.1,
'tesla': 0.2,
'toyota': 0.7,
'toyota': 1.6,
'volkswagen': 0.2,
},
2: {
'ford': 0.4,
'hyundai': 1.1,
}
}
@@ -214,13 +249,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
if not len(multi_panda_requests) and num_pandas > 1:
raise unittest.SkipTest("No multi-panda FW queries")
avg_time = self._benchmark(brand, num_pandas, 5)
avg_time = self._benchmark_brand(brand, num_pandas)
total_time += avg_time
self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
with self.subTest(brand='all_brands'):
self._assert_timing(total_time, total_ref_time, tol)
self._assert_timing(total_time, total_ref_time)
print(f'all brands, total FW query time={total_time} seconds')
selfdrive/car/tests/test_models.py
+38 -2
View File
@@ -39,7 +39,7 @@ for r in routes:
test_cases: List[Tuple[str, Optional[CarTestRoute]]] = []
for i, c in enumerate(sorted(all_known_cars())):
if i % NUM_JOBS == JOB_ID:
test_cases.extend((c, r) for r in routes_by_car.get(c, (None, )))
test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None, ))))
SKIP_ENV_VAR = "SKIP_LONG_TESTS"
@@ -201,6 +201,42 @@ class TestCarModelBase(unittest.TestCase):
self.assertTrue(self.safety.addr_checks_valid())
self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
def test_panda_safety_tx_cases(self, data=None):
"""Asserts we can tx common messages"""
if self.CP.notCar:
self.skipTest("Skipping test for notCar")
def test_car_controller(car_control):
now_nanos = 0
msgs_sent = 0
CI = self.CarInterface(self.CP, self.CarController, self.CarState)
for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages
CI.update(car_control, [])
_, sendcan = CI.apply(car_control, now_nanos)
now_nanos += DT_CTRL * 1e9
msgs_sent += len(sendcan)
for addr, _, dat, bus in sendcan:
to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
# Make sure we attempted to send messages
self.assertGreater(msgs_sent, 50)
# Make sure we can send all messages while inactive
CC = car.CarControl.new_message()
test_car_controller(CC)
# Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
self.safety.set_cruise_engaged_prev(True)
CC = car.CarControl.new_message(cruiseControl={'cancel': True})
test_car_controller(CC)
# Test resume + general messages (controls_allowed=True & cruise_engaged=True)
self.safety.set_controls_allowed(True)
CC = car.CarControl.new_message(cruiseControl={'resume': True})
test_car_controller(CC)
def test_panda_safety_carstate(self):
"""
Assert that panda safety matches openpilot's carState
@@ -214,7 +250,7 @@ class TestCarModelBase(unittest.TestCase):
for can in self.can_msgs[:300]:
self.CI.update(CC, (can.as_builder().to_bytes(), ))
for msg in filter(lambda m: m.src in range(64), can.can):
to_send = libpanda_py.make_CANPacket(msg.address, msg.src, msg.dat)
to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
self.safety.safety_rx_hook(to_send)
controls_allowed_prev = False
selfdrive/car/torque_data/override.yaml
+4 -1
View File
@@ -19,6 +19,7 @@ TESLA AP2 MODEL S: [.nan, 2.5, .nan]
FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
FORD F-150 14TH GEN: [.nan, 1.5, .nan]
FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
###
@@ -29,7 +30,7 @@ COMMA BODY: [.nan, 1000, .nan]
# Totally new cars
RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
RAM HD 5TH GEN: [1.4, 1.4, 0.05]
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
@@ -47,6 +48,8 @@ KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
GENESIS GV80 2023: [2.5, 2.5, 0.1]
KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
HONDA ACCORD 4CYL 9TH GEN: [1.7, 0.35, 0.21]
# Dashcam or fallback configured as ideal car
selfdrive/car/torque_data/params.yaml
-1
View File
@@ -10,7 +10,6 @@ CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237]
CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818]
CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520]
GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
selfdrive/car/torque_data/substitute.yaml
+1
View File
@@ -36,6 +36,7 @@ HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ 6 2023: HYUNDAI IONIQ 5 2022
HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
HYUNDAI ELANTRA SE 2022 NON-SCC: HYUNDAI ELANTRA 2021
selfdrive/car/toyota/carcontroller.py
+64 -43
View File
@@ -1,7 +1,8 @@
from cereal import car
from common.numpy_fast import clip, interp
from common.params import Params
from selfdrive.car import apply_meas_steer_torque_limits, create_gas_interceptor_command, make_can_msg
from selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, \
create_gas_interceptor_command, make_can_msg
from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
@@ -10,8 +11,10 @@ from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR,
UNSUPPORTED_DSU_CAR
from opendbc.can.packer import CANPacker
SteerControlType = car.CarParams.SteerControlType
VisualAlert = car.CarControl.HUDControl.VisualAlert
# LKA limits
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
MAX_STEER_RATE = 100 # deg/s
MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut
@@ -19,13 +22,19 @@ MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut
# EPS allows user torque above threshold for 50 frames before permanently faulting
MAX_USER_TORQUE = 500
# LTA limits
# EPS ignores commands above this angle and causes PCS to fault
MAX_STEER_ANGLE = 94.9461 # deg
MAX_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.torque_rate_limits = CarControllerParams(self.CP)
self.params = CarControllerParams(self.CP)
self.frame = 0
self.last_steer = 0
self.last_angle = 0
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
@@ -44,27 +53,12 @@ class CarController:
pcm_cancel_cmd = CC.cruiseControl.cancel
lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
# gas and brake
if self.CP.enableGasInterceptor and CC.longActive:
MAX_INTERCEPTOR_GAS = 0.5
# RAV4 has very sensitive gas pedal
if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
elif self.CP.carFingerprint in (CAR.COROLLA,):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
else:
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
# offset for creep and windbrake
pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
else:
interceptor_gas_cmd = 0.
pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
# *** control msgs ***
can_sends = []
# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
# *** steer torque ***
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
# Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
@@ -80,10 +74,53 @@ class CarController:
apply_steer_req = 0
self.steer_rate_counter = 0
# Never actuate with LKA on cars that only support LTA
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
# *** steer angle ***
if self.CP.steerControlType == SteerControlType.angle:
# If using LTA control, disable LKA and set steering angle command
apply_steer = 0
apply_steer_req = 0
if self.frame % 2 == 0:
# EPS uses the torque sensor angle to control with, offset to compensate
apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
# Angular rate limit based on speed
apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)
if not lat_active:
apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE)
self.last_steer = apply_steer
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE)
setme_x64 = 100 if lta_active and full_torque_condition else 0
can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64))
# *** gas and brake ***
if self.CP.enableGasInterceptor and CC.longActive:
MAX_INTERCEPTOR_GAS = 0.5
# RAV4 has very sensitive gas pedal
if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
elif self.CP.carFingerprint in (CAR.COROLLA,):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
else:
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
# offset for creep and windbrake
pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
else:
interceptor_gas_cmd = 0.
pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
@@ -97,26 +134,8 @@ class CarController:
# pcm entered standstill or it's disabled
self.standstill_req = False
self.last_steer = apply_steer
self.last_standstill = CS.out.standstill
can_sends = []
# *** control msgs ***
# print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2))
# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
# if self.frame % 2 == 0:
# can_sends.append(create_steer_command(self.packer, 0, 0, self.frame // 2))
# can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, self.frame // 2))
# we can spam can to cancel the system even if we are using lat only control
if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
@@ -137,6 +156,7 @@ class CarController:
can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2))
self.gas = interceptor_gas_cmd
# *** hud ui ***
if self.CP.carFingerprint != CAR.PRIUS_V:
# ui mesg is at 1Hz but we send asap if:
# - there is something to display
@@ -167,8 +187,9 @@ class CarController:
can_sends.append(make_can_msg(addr, vl, bus))
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
new_actuators.steer = apply_steer / self.params.STEER_MAX
new_actuators.steerOutputCan = apply_steer
new_actuators.steeringAngleDeg = self.last_angle
new_actuators.accel = self.accel
new_actuators.gas = self.gas
selfdrive/car/toyota/carstate.py
+25 -6
View File
@@ -10,6 +10,19 @@ from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
SteerControlType = car.CarParams.SteerControlType
# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
# if using the other control command, goes directly to 3 after 1.5 seconds
# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1,
# and is a catch-all for LKA
TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
# - lka/lta msg drop out: 3 (recoverable)
# - prolonged high driver torque: 17 (permanent)
PERM_STEER_FAULTS = (3, 17)
_TRAFFIC_SINGAL_MAP = {
1: "kph",
36: "mph",
@@ -125,12 +138,14 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
# we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
# steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
# lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
# 17 is a fault from a prolonged high torque delta between cmd and user
# 3 is a fault from the lka command message not being received by the EPS
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
# Check EPS LKA/LTA fault status
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in PERM_STEER_FAULTS
if self.CP.steerControlType == SteerControlType.angle:
ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
# TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
@@ -310,6 +325,10 @@ class CarState(CarStateBase):
("AUTO_HIGH_BEAM", "LIGHT_STALK"),
]
# Check LTA state if using LTA angle control
if CP.steerControlType == SteerControlType.angle:
signals.append(("LTA_STATE", "EPS_STATUS"))
checks = [
("GEAR_PACKET", 1),
("LIGHT_STALK", 1),
selfdrive/car/toyota/interface.py
+32 -5
View File
@@ -10,6 +10,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
SteerControlType = car.CarParams.SteerControlType
GearShifter = car.CarState.GearShifter
GAC_DICT = {3: 1, 2: 2, 1: 3}
@@ -32,13 +33,18 @@ class CarInterface(CarInterfaceBase):
if candidate in ANGLE_CONTROL_CAR:
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerControlType = SteerControlType.angle
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
# LTA control can be more delayed and winds up more often
ret.steerActuatorDelay = 0.25
ret.steerLimitTimer = 0.8
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False
@@ -212,13 +218,29 @@ class CarInterface(CarInterfaceBase):
if 0x2FF in fingerprint[0]:
ret.flags |= ToyotaFlags.SMART_DSU.value
# No radar dbc for cars without DSU which are not TSS 2.0
# TODO: make an adas dbc file for dsu-less models
ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
# In TSS2 cars, the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = (bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)) and not Params().get_bool("StockLongToyota")
# if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
# since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
if candidate in RADAR_ACC_CAR:
ret.experimentalLongitudinalAvailable = use_sdsu
use_sdsu = use_sdsu and experimental_long
# openpilot longitudinal enabled by default:
# - non-(TSS2 radar ACC cars) w/ smartDSU installed
# - cars w/ DSU disconnected
# - TSS2 cars with camera sending ACC_CONTROL where we can block it
# openpilot longitudinal behind experimental long toggle:
# - TSS2 radar ACC cars w/ smartDSU installed
ret.openpilotLongitudinalControl = (use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)) and not Params().get_bool("StockLongToyota")
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
if not ret.openpilotLongitudinalControl:
@@ -342,6 +364,11 @@ class CarInterface(CarInterfaceBase):
events, ret = self.create_sp_events(self.CS, ret, events)
# Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
# the more accurate angle sensor signal is initialized
if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen:
events.add(EventName.vehicleSensorsInvalid)
if self.CP.openpilotLongitudinalControl:
if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor:
events.add(EventName.resumeRequired)
selfdrive/car/toyota/radar_interface.py
+3 -10
View File
@@ -1,14 +1,11 @@
#!/usr/bin/env python3
from opendbc.can.parser import CANParser
from cereal import car
from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
from selfdrive.car.toyota.values import DBC, TSS2_CAR
from selfdrive.car.interfaces import RadarInterfaceBase
def _create_radar_can_parser(car_fingerprint):
if DBC[car_fingerprint]['radar'] is None:
return None
if car_fingerprint in TSS2_CAR:
RADAR_A_MSGS = list(range(0x180, 0x190))
RADAR_B_MSGS = list(range(0x190, 0x1a0))
@@ -42,16 +39,12 @@ class RadarInterface(RadarInterfaceBase):
self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS}
self.rcp = _create_radar_can_parser(CP.carFingerprint)
self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint)
self.trigger_msg = self.RADAR_B_MSGS[-1]
self.updated_messages = set()
# No radar dbc for cars without DSU which are not TSS 2.0
# TODO: make a adas dbc file for dsu-less models
self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR
def update(self, can_strings):
if self.no_radar or self.rcp is None:
if self.rcp is None:
return super().update(None)
vls = self.rcp.update_strings(can_strings)

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