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Code Issues Packages Projects Releases Wiki Activity

Merge branch 'palisade-2023-port-1' into palisade-2023-hda2-long

Browse Source
This commit is contained in:
Jason Wen
2024-04-24 16:31:37 -04:00
parent 4f237bcd2d 3511c4bea3
commit 3940c20c08
381 changed files with 11012 additions and 9275 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.devcontainer/devcontainer.json
+4 -1
View File
@@ -17,6 +17,7 @@
"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
"--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
"--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
"--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
"--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
"--shm-size=1G",
"--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
@@ -28,7 +29,9 @@
"installOhMyZsh": false,
"upgradePackages": false,
"username": "batman"
}
},
"ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
"ghcr.io/devcontainers/features/azure-cli:1": {}
},
"containerUser": "batman",
"remoteUser": "batman",
.github/PULL_REQUEST_TEMPLATE/car_port.md
+1 -1
View File
@@ -8,7 +8,7 @@ assignees: ''
**Checklist**
- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
- [ ] route with openpilot:
- [ ] route with stock system:
.github/pull_request_template.md
+1 -1
View File
@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
**Checklist**
- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
- [ ] route with openpilot:
- [ ] route with stock system:
.github/workflows/auto-cache/action.yaml
+4 -4
View File
@@ -19,14 +19,14 @@ runs:
using: "composite"
steps:
- name: setup namespace cache
if: ${{ contains(runner.name, 'nsc') }}
if: ${{ contains(runner.name, 'nsc') }}
uses: namespacelabs/nscloud-cache-action@v1
with:
path: ${{ inputs.path }}
- name: setup github cache
if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
uses: 'actions/cache@v3'
uses: 'actions/cache@v4'
with:
path: ${{ inputs.path }}
key: ${{ inputs.key }}
@@ -34,7 +34,7 @@ runs:
- name: setup github cache
if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
uses: 'actions/cache/restore@v3'
uses: 'actions/cache/restore@v4'
with:
path: ${{ inputs.path }}
key: ${{ inputs.key }}
@@ -46,4 +46,4 @@ runs:
run: |
mkdir -p ${{ inputs.path }}
sudo chmod -R 777 ${{ inputs.path }}
sudo chown -R $USER ${{ inputs.path }}
sudo chown -R $USER ${{ inputs.path }}
.github/workflows/auto_pr_review.yaml
+1 -1
View File
@@ -24,7 +24,7 @@ jobs:
runs-on: ubuntu-latest
if: github.repository == 'commaai/openpilot'
steps:
- uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
- uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
with:
.github/workflows/compile-openpilot/action.yaml
+1 -1
View File
@@ -14,7 +14,7 @@ runs:
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
scons -j$(nproc) --cache-populate"
- name: Save scons cache
uses: actions/cache/save@v3
uses: actions/cache/save@v4
if: github.ref == 'refs/heads/master'
with:
path: .ci_cache/scons_cache
.github/workflows/prebuilt.yaml
+1 -1
View File
@@ -22,7 +22,7 @@ jobs:
steps:
- name: Wait for green check mark
if: ${{ github.event_name != 'workflow_dispatch' }}
uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
with:
ref: master
wait-interval: 30
.github/workflows/release.yaml
+1 -1
View File
@@ -24,7 +24,7 @@ jobs:
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@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
with:
ref: master
wait-interval: 30
.github/workflows/repo-maintenance.yaml
+2 -2
View File
@@ -22,7 +22,7 @@ jobs:
git -c submodule."tinygrad".update=none submodule update --remote
git add .
- name: Create Pull Request
uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
with:
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
commit-message: bump submodules
@@ -49,7 +49,7 @@ jobs:
git config --global --add safe.directory '*'
pre-commit autoupdate
- name: Create Pull Request
uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
with:
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
commit-message: Update Python packages and pre-commit hooks
.github/workflows/selfdrive_tests.yaml
+21 -21
View File
@@ -69,7 +69,7 @@ jobs:
matrix:
arch: ${{ fromJson(
((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
steps:
@@ -122,7 +122,7 @@ jobs:
static_analysis:
name: static analysis
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
steps:
- uses: actions/checkout@v4
@@ -155,7 +155,7 @@ jobs:
unit_tests:
name: unit tests
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
steps:
- uses: actions/checkout@v4
@@ -177,7 +177,7 @@ jobs:
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
./selfdrive/ui/tests/test_translations.py"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
uses: codecov/codecov-action@v4
with:
name: ${{ github.job }}
env:
@@ -186,7 +186,7 @@ jobs:
process_replay:
name: process replay
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
steps:
- uses: actions/checkout@v4
@@ -197,7 +197,7 @@ jobs:
docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
- name: Cache test routes
id: dependency-cache
uses: actions/cache@v3
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
@@ -215,7 +215,7 @@ jobs:
id: print-diff
if: always()
run: cat selfdrive/test/process_replay/diff.txt
- uses: actions/upload-artifact@v3
- uses: actions/upload-artifact@v4
if: always()
continue-on-error: true
with:
@@ -226,7 +226,7 @@ jobs:
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
uses: codecov/codecov-action@v4
with:
name: ${{ github.job }}
env:
@@ -235,14 +235,14 @@ jobs:
regen:
name: regen
runs-on: 'ubuntu-20.04'
steps:
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Cache test routes
id: dependency-cache
uses: actions/cache@v3
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
@@ -284,7 +284,7 @@ jobs:
${{ env.RUN }} "unset PYTHONWARNINGS && \
$PYTEST selfdrive/modeld"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
uses: codecov/codecov-action@v4
with:
name: ${{ github.job }}
env:
@@ -293,7 +293,7 @@ jobs:
test_cars:
name: cars
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
strategy:
fail-fast: false
@@ -321,7 +321,7 @@ jobs:
NUM_JOBS: 5
JOB_ID: ${{ matrix.job }}
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
uses: codecov/codecov-action@v4
with:
name: ${{ github.job }}-${{ matrix.job }}
env:
@@ -340,7 +340,7 @@ jobs:
- uses: ./.github/workflows/setup-with-retry
- name: Get base car info
run: |
${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
sudo chown -R $USER:$USER ${{ github.workspace }}
- uses: actions/checkout@v4
with:
@@ -352,19 +352,19 @@ jobs:
run: |
cd current
${{ env.RUN }} "scons -j$(nproc)"
output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
output="${output//$'\n'/'%0A'}"
echo "::set-output name=diff::$output"
- name: Find comment
if: ${{ env.AZURE_TOKEN != '' }}
uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
id: fc
with:
issue-number: ${{ github.event.pull_request.number }}
body-includes: This PR makes changes to
- name: Update comment
if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
with:
comment-id: ${{ steps.fc.outputs.comment-id }}
issue-number: ${{ github.event.pull_request.number }}
@@ -372,7 +372,7 @@ jobs:
edit-mode: replace
- name: Delete comment
if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
uses: actions/github-script@v6
uses: actions/github-script@v7
with:
script: |
github.rest.issues.deleteComment({
@@ -395,10 +395,10 @@ jobs:
run: >
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
source selfdrive/test/setup_xvfb.sh &&
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
python selfdrive/ui/tests/test_ui/run.py"
- name: Upload Test Report
uses: actions/upload-artifact@v2
uses: actions/upload-artifact@v4
with:
name: report
path: selfdrive/ui/tests/test_ui/report
path: selfdrive/ui/tests/test_ui/report
.github/workflows/setup-pre-commit/action.yaml
+1 -1
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@@ -4,7 +4,7 @@ runs:
using: "composite"
steps:
- uses: ./.github/workflows/auto-cache
with:
with:
path: .ci_cache/pre-commit
key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
restore-keys: |
.github/workflows/stale.yaml
+3 -2
View File
@@ -12,15 +12,16 @@ jobs:
stale:
runs-on: ubuntu-latest
steps:
- uses: actions/stale@v8
- uses: actions/stale@v9
with:
exempt-milestones: true
# pull request config
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
stale-pr-label: stale
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
.github/workflows/tools_tests.yaml
+2 -2
View File
@@ -31,7 +31,7 @@ jobs:
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
timeout-minutes: 5
run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
- name: Test PlotJuggler
timeout-minutes: 2
run: |
@@ -99,4 +99,4 @@ jobs:
- name: Test notebooks
timeout-minutes: 3
run: |
${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
.gitignore
-1
View File
@@ -52,7 +52,6 @@ selfdrive/car/tests/cars_dump
system/camerad/camerad
system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
selfdrive/modeld/_navmodeld
selfdrive/modeld/_dmonitoringmodeld
/src/
.pre-commit-config.yaml
+4 -4
View File
@@ -5,7 +5,7 @@ repos:
- id: check-hooks-apply
- id: check-useless-excludes
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.5.0
rev: v4.6.0
hooks:
- id: check-ast
exclude: '^(third_party)/'
@@ -33,7 +33,7 @@ repos:
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.2.2
rev: v0.4.1
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -75,7 +75,7 @@ repos:
# relevant rules are whitelisted, see all options with: cpplint --filter=
- --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
- repo: https://github.com/MarcoGorelli/cython-lint
rev: v0.16.0
rev: v0.16.2
hooks:
- id: cython-lint
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
@@ -98,6 +98,6 @@ repos:
args:
- --lock
- repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.28.0
rev: 0.28.2
hooks:
- id: check-github-workflows
.vscode/settings.json
Vendored
+13 -2
View File
@@ -12,5 +12,16 @@
"**/.git": true,
"**/.venv": true,
"**/__pycache__": true
}
}
},
"python.analysis.exclude": [
"**/.git",
"**/.venv",
"**/__pycache__",
// exclude directories that should be using the symlinked version
"common/**",
"selfdrive/**",
"system/**",
"third_party/**",
"tools/**",
]
}
Jenkinsfile
Vendored
+139 -79
View File
@@ -9,6 +9,11 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
throw Exception("Failed after ${maxRetries} retries")
}
// check if started by timer: https://gist.github.com/aaclarker/75b8a0eb2b4d600779f84f8e849f2c37
def isJobStartedByTimer() {
return currentBuild.getBuildCauses()[0]["shortDescription"].matches("Started by timer");
}
def device(String ip, String step_label, String cmd) {
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
def ssh_cmd = """
@@ -26,6 +31,7 @@ export SOURCE_DIR=${env.SOURCE_DIR}
export GIT_BRANCH=${env.GIT_BRANCH}
export GIT_COMMIT=${env.GIT_COMMIT}
export AZURE_TOKEN='${env.AZURE_TOKEN}'
export AZURE_TOKEN_OPENPILOT_RELEASES='${env.AZURE_TOKEN_OPENPILOT_RELEASES}'
export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
# only use 1 thread for tici tests since most require HIL
export PYTEST_ADDOPTS="-n 0"
@@ -40,6 +46,7 @@ if [ -f /TICI ]; then
rm -rf /tmp/tmp*
rm -rf ~/.commacache
rm -rf /dev/shm/*
rm -rf /dev/tmp/tmp*
if ! systemctl is-active --quiet systemd-resolved; then
echo "restarting resolved"
@@ -104,7 +111,7 @@ def pcStage(String stageName, Closure body) {
checkout scm
def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} -e AZURE_TOKEN_OPENPILOT_RELEASES='${env.AZURE_TOKEN_OPENPILOT_RELEASES}' --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
def openpilot_base = retryWithDelay (3, 15) {
return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
@@ -112,7 +119,7 @@ def pcStage(String stageName, Closure body) {
lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
openpilot_base.inside(dockerArgs) {
timeout(time: 20, unit: 'MINUTES') {
timeout(time: 25, unit: 'MINUTES') {
try {
retryWithDelay (3, 15) {
sh "git config --global --add safe.directory '*'"
@@ -134,14 +141,56 @@ def pcStage(String stageName, Closure body) {
def setupCredentials() {
withCredentials([
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
string(credentialsId: 'azure_token_openpilot_releases', variable: 'AZURE_TOKEN_OPENPILOT_RELEASES'),
string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
]) {
env.AZURE_TOKEN = "${AZURE_TOKEN}"
env.AZURE_TOKEN_OPENPILOT_RELEASES = "${AZURE_TOKEN_OPENPILOT_RELEASES}"
env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
}
}
def build_git_release(String channel_name) {
return parallel (
"${channel_name} (git)": {
deviceStage("build git", "tici-needs-can", [], [
["build ${channel_name}", "RELEASE_BRANCH=${channel_name} $SOURCE_DIR/release/build_git_release.sh"],
])
}
)
}
def build_casync_release(String channel_name, def is_release) {
def extra_env = is_release ? "RELEASE=1 " : ""
def build_dir = "/data/openpilot"
extra_env += "TMPDIR=/data/tmp PYTHONPATH=$SOURCE_DIR"
return deviceStage("build casync", "tici-needs-can", [], [
["build", "${extra_env} $SOURCE_DIR/release/build_release.sh ${build_dir}"],
["package + upload", "${extra_env} $SOURCE_DIR/release/package_casync_build.py ${build_dir}"],
])
}
def build_stage() {
return parallel (
'nightly': {
build_casync_release("nightly", true);
},
'master': {
build_casync_release("master", false);
},
'publish agnos': {
pcStage("publish agnos") {
sh "PYTHONWARNINGS=ignore release/package_casync_agnos.py"
}
}
)
}
node {
env.CI = "1"
env.PYTHONWARNINGS = "error"
@@ -156,94 +205,105 @@ node {
'testing-closet*', 'hotfix-*']
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
if (env.BRANCH_NAME != 'master') {
properties([
disableConcurrentBuilds(abortPrevious: true)
])
def nightlyBranch = "master"
def props = [];
if (env.BRANCH_NAME == nightlyBranch) {
props.add(pipelineTriggers([
cron('0 9 * * *') // at 2am PST (9am UTC) every night
]))
}
if (env.BRANCH_NAME != "master") {
props.add(disableConcurrentBuilds(abortPrevious: true))
}
properties(props);
try {
if (env.BRANCH_NAME == 'devel-staging') {
deviceStage("build release3-staging", "tici-needs-can", [], [
["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
])
build_git_release("release3-staging")
}
if (env.BRANCH_NAME == 'master-ci') {
deviceStage("build nightly", "tici-needs-can", [], [
["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
])
build_git_release("nightly")
}
if (!env.BRANCH_NAME.matches(excludeRegex)) {
parallel (
// tici tests
'onroad tests': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.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"],
])
},
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
},
'replay': {
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"],
])
},
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.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 amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
])
},
parallel (
// tici tests
'onroad tests': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
])
},
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
},
'replay': {
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"],
])
},
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.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 amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
])
},
)
}
)
if (env.BRANCH_NAME == nightlyBranch && isJobStartedByTimer()) {
stage('build release') {
build_stage()
}
}
} catch (Exception e) {
currentBuild.result = 'FAILED'
RELEASES.md
+1
View File
@@ -1,6 +1,7 @@
Version 0.9.7 (2024-XX-XX)
========================
* New driving model
* Adjust driving personality with the follow distance button
* Support for hybrid variants of supported Ford models
* Hyundai Palisade (with HDA II) 2023-24 support thanks to sunnyhaibin!
* Kia Telluride (with HDA II) 2023-24 support thanks to sunnyhaibin!
SConstruct
+5 -2
View File
@@ -376,11 +376,13 @@ SConscript([
])
if arch != "Darwin":
SConscript([
'system/camerad/SConscript',
'system/sensord/SConscript',
'system/logcatd/SConscript',
])
if arch == "larch64":
SConscript(['system/camerad/SConscript'])
# Build openpilot
SConscript(['third_party/SConscript'])
@@ -388,7 +390,8 @@ SConscript(['selfdrive/SConscript'])
if Dir('#tools/cabana/').exists() and GetOption('extras'):
SConscript(['tools/replay/SConscript'])
SConscript(['tools/cabana/SConscript'])
if arch != "larch64":
SConscript(['tools/cabana/SConscript'])
external_sconscript = GetOption('external_sconscript')
if external_sconscript:
cereal
+1 -1
Submodule cereal updated: bfbb0cab83...db1359ec22
common/git.py
+42
View File
@@ -0,0 +1,42 @@
import subprocess
from openpilot.common.utils import cache
from openpilot.common.run import run_cmd, run_cmd_default
@cache
def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
@cache
def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
@cache
def get_short_branch(cwd: str = None) -> str:
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
@cache
def get_branch(cwd: str = None) -> str:
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
@cache
def get_origin(cwd: str = None) -> str:
try:
local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
except subprocess.CalledProcessError: # Not on a branch, fallback
return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
@cache
def get_normalized_origin(cwd: str = None) -> str:
return get_origin(cwd) \
.replace("git@", "", 1) \
.replace(".git", "", 1) \
.replace("https://", "", 1) \
.replace(":", "/", 1)
common/params.cc
+5 -2
View File
@@ -89,6 +89,7 @@ private:
std::unordered_map<std::string, uint32_t> keys = {
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
{"AlwaysOnDM", PERSISTENT},
{"ApiCache_Device", PERSISTENT},
{"ApiCache_NavDestinations", PERSISTENT},
{"AssistNowToken", PERSISTENT},
@@ -188,6 +189,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"RecordFront", PERSISTENT},
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"RouteCount", PERSISTENT},
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"SshEnabled", PERSISTENT},
{"TermsVersion", PERSISTENT},
@@ -206,7 +208,6 @@ std::unordered_map<std::string, uint32_t> keys = {
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
{"UpdaterLastFetchTime", PERSISTENT},
{"Version", PERSISTENT},
{"VisionRadarToggle", PERSISTENT},
};
} // namespace
@@ -273,7 +274,9 @@ int Params::put(const char* key, const char* value, size_t value_size) {
} while (false);
close(tmp_fd);
::unlink(tmp_path.c_str());
if (result != 0) {
::unlink(tmp_path.c_str());
}
return result;
}
common/prefix.py
+3 -1
View File
@@ -4,6 +4,7 @@ import uuid
from openpilot.common.params import Params
from openpilot.system.hardware import PC
from openpilot.system.hardware.hw import Paths
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -45,7 +46,8 @@ class OpenpilotPrefix:
shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
os.remove(symlink_path)
shutil.rmtree(self.msgq_path, ignore_errors=True)
shutil.rmtree(Paths.log_root(), ignore_errors=True)
if PC:
shutil.rmtree(Paths.log_root(), ignore_errors=True)
if not os.environ.get("COMMA_CACHE", False):
shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
shutil.rmtree(Paths.comma_home(), ignore_errors=True)
common/run.py
+13
View File
@@ -0,0 +1,13 @@
import subprocess
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
try:
return run_cmd(cmd, cwd=cwd, env=env)
except subprocess.CalledProcessError:
return default
common/time.py
+11 -2
View File
@@ -1,6 +1,15 @@
import datetime
from pathlib import Path
MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
def min_date():
# on systemd systems, the default time is the systemd build time
systemd_path = Path("/lib/systemd/systemd")
if systemd_path.exists():
d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
return d + datetime.timedelta(days=1)
return _MIN_DATE
def system_time_valid():
return datetime.datetime.now() > MIN_DATE
return datetime.datetime.now() > min_date()
common/transformations/camera.py
+58 -39
View File
@@ -1,55 +1,74 @@
import itertools
import numpy as np
from dataclasses import dataclass
import openpilot.common.transformations.orientation as orient
## -- hardcoded hardware params --
eon_f_focal_length = 910.0
eon_d_focal_length = 650.0
tici_f_focal_length = 2648.0
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
@dataclass(frozen=True)
class CameraConfig:
width: int
height: int
focal_length: float
eon_f_frame_size = (1164, 874)
eon_d_frame_size = (816, 612)
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
@property
def size(self):
return (self.width, self.height)
# aka 'K' aka camera_frame_from_view_frame
eon_fcam_intrinsics = np.array([
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
[0.0, 0.0, 1.0]])
eon_intrinsics = eon_fcam_intrinsics # xx
@property
def intrinsics(self):
# aka 'K' aka camera_frame_from_view_frame
return np.array([
[self.focal_length, 0.0, float(self.width)/2],
[0.0, self.focal_length, float(self.height)/2],
[0.0, 0.0, 1.0]
])
eon_dcam_intrinsics = np.array([
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
[0.0, 0.0, 1.0]])
@property
def intrinsics_inv(self):
# aka 'K_inv' aka view_frame_from_camera_frame
return np.linalg.inv(self.intrinsics)
tici_fcam_intrinsics = np.array([
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
[0.0, 0.0, 1.0]])
@dataclass(frozen=True)
class _NoneCameraConfig(CameraConfig):
width: int = 0
height: int = 0
focal_length: float = 0
tici_dcam_intrinsics = np.array([
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
[0.0, 0.0, 1.0]])
@dataclass(frozen=True)
class DeviceCameraConfig:
fcam: CameraConfig
dcam: CameraConfig
ecam: CameraConfig
tici_ecam_intrinsics = tici_dcam_intrinsics
def all_cams(self):
for cam in ['fcam', 'dcam', 'ecam']:
if not isinstance(getattr(self, cam), _NoneCameraConfig):
yield cam, getattr(self, cam)
# aka 'K_inv' aka view_frame_from_camera_frame
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
DEVICE_CAMERAS = {
# A "device camera" is defined by a device type and sensor
# sensor type was never set on eon/neo/two
("neo", "unknown"): _neo_config,
# unknown here is AR0231, field was added with OX03C10 support
("tici", "unknown"): _ar_ox_config,
FULL_FRAME_SIZE = tici_f_frame_size
FOCAL = tici_f_focal_length
fcam_intrinsics = tici_fcam_intrinsics
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
# before deviceState.deviceType was set, assume tici AR config
("unknown", "ar0231"): _ar_ox_config,
("unknown", "ox03c10"): _ar_ox_config,
# simulator (emulates a tici)
("pc", "unknown"): _ar_ox_config,
}
prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
# device/mesh : x->forward, y-> right, z->down
# view : x->right, y->down, z->forward
@@ -93,7 +112,7 @@ def roll_from_ke(m):
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
def normalize(img_pts, intrinsics=fcam_intrinsics):
def normalize(img_pts, intrinsics):
# normalizes image coordinates
# accepts single pt or array of pts
intrinsics_inv = np.linalg.inv(intrinsics)
@@ -106,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
return img_pts_normalized[:, :2].reshape(input_shape)
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
# denormalizes image coordinates
# accepts single pt or array of pts
img_pts = np.array(img_pts)
@@ -123,7 +142,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
return img_pts_denormalized[:, :2].reshape(input_shape)
def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
def get_calib_from_vp(vp, intrinsics):
vp_norm = normalize(vp, intrinsics)
yaw_calib = np.arctan(vp_norm[0])
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
common/transformations/model.py
+3 -18
View File
@@ -1,19 +1,11 @@
import numpy as np
from openpilot.common.transformations.orientation import rot_from_euler
from openpilot.common.transformations.camera import (
FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
# segnet
SEGNET_SIZE = (512, 384)
def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
# MED model
MEDMODEL_INPUT_SIZE = (512, 256)
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
# This function is verified to give similar results to xx.uncommon.utils.transform_img
def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
if tici and wide_camera:
cam_intrinsics = tici_ecam_intrinsics
elif tici:
cam_intrinsics = tici_fcam_intrinsics
else:
cam_intrinsics = eon_fcam_intrinsics
def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
device_from_calib = rot_from_euler(device_from_calib_euler)
camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
return warp_matrix
common/util.cc
+3 -2
View File
@@ -256,8 +256,9 @@ bool starts_with(const std::string &s1, const std::string &s2) {
return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
}
bool ends_with(const std::string &s1, const std::string &s2) {
return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
bool ends_with(const std::string& s, const std::string& suffix) {
return s.size() >= suffix.size() &&
strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
}
std::string check_output(const std::string& command) {
common/util.h
+8 -1
View File
@@ -77,7 +77,7 @@ float getenv(const char* key, float default_val);
std::string hexdump(const uint8_t* in, const size_t size);
std::string dir_name(std::string const& path);
bool starts_with(const std::string &s1, const std::string &s2);
bool ends_with(const std::string &s1, const std::string &s2);
bool ends_with(const std::string &s, const std::string &suffix);
// ***** random helpers *****
int random_int(int min, int max);
@@ -179,3 +179,10 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
T prev = max;
while (prev < value && !max.compare_exchange_weak(prev, value)) {}
}
typedef struct Rect {
int x;
int y;
int w;
int h;
} Rect;
common/utils.py
+12
View File
@@ -1,3 +1,11 @@
from collections.abc import Callable
from functools import lru_cache
from typing import TypeVar
_RT = TypeVar("_RT")
class Freezable:
_frozen: bool = False
@@ -9,3 +17,7 @@ class Freezable:
if self._frozen:
raise Exception("cannot modify frozen object")
super().__setattr__(*args, **kwargs)
def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
return lru_cache(maxsize=None)(user_function)
docs/BOUNTIES.md
+4 -1
View File
@@ -10,7 +10,8 @@ Get paid to improve openpilot!
* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in.
This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
## Issue bounties
@@ -20,6 +21,8 @@ We've tagged bounty-eligible issues across openpilot and the rest of our repos;
* **$500** - a few days of work for an experienced openpilot developer
* **$1k+** - a week or two of work (could be less for the right person)
New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
## Car bounties
The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).
docs/CARS.md
+123 -128
View File
@@ -4,29 +4,24 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 290 Supported Cars
# 285 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
@@ -35,7 +30,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-23|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>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
@@ -47,31 +42,31 @@ A supported vehicle is one that just works when you install a comma device. All
|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
|Ford|Maverick Hybrid 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023">Buy Here</a></sub></details>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 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>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -94,10 +89,10 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -107,11 +102,10 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Palisade (with HDA II) 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade (with HDA II) 2023-24">Buy Here</a></sub></details>||
|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" 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>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -119,53 +113,53 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|Kia|Telluride (with HDA II) 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride (with HDA II) 2023-24">Buy Here</a></sub></details>||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
@@ -189,8 +183,8 @@ A supported vehicle is one that just works when you install a comma device. All
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -198,26 +192,27 @@ A supported vehicle is one that just works when you install a comma device. All
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -230,8 +225,8 @@ A supported vehicle is one that just works when you install a comma device. All
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@@ -241,9 +236,9 @@ A supported vehicle is one that just works when you install a comma device. All
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -257,63 +252,62 @@ A supported vehicle is one that just works when you install a comma device. All
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-22">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Atlas Cross Sport 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>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">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>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
### Footnotes
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
<sup>9</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>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
## Community Maintained Cars
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -356,6 +350,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
* Toyota Tundra 2022+
* Toyota Highlander 2024+
* Toyota Corolla Cross 2022+ (only US model)
* Toyota Camry 2025+
* Lexus NX 2022+
* Toyota bZ4x 2023+
* Subaru Solterra 2023+
panda
+1 -1
Submodule panda updated: 424ccb8686...1585d56013
poetry.lock
Generated
+2403 -2243
View File
File diff suppressed because one or more lines are too long
pyproject.toml
+6
View File
@@ -21,6 +21,7 @@ testpaths = [
"selfdrive/thermald",
"selfdrive/test/longitudinal_maneuvers",
"selfdrive/test/process_replay/test_fuzzy.py",
"selfdrive/updated",
"system/camerad",
"system/hardware/tici",
"system/loggerd",
@@ -170,11 +171,14 @@ build-backend = "poetry.core.masonry.api"
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
[tool.ruff]
indent-width = 2
lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
line-length = 160
target-version="py311"
exclude = [
"body",
"cereal",
"panda",
"opendbc",
"rednose_repo",
@@ -194,3 +198,5 @@ lint.flake8-implicit-str-concat.allow-multiline=false
[tool.coverage.run]
concurrency = ["multiprocessing", "thread"]
[tool.ruff.format]
quote-style = "preserve"
rednose_repo
+1 -1
Submodule rednose_repo updated: c5762e8bc6...1dc61a60e6
release/README.md
+34
View File
@@ -0,0 +1,34 @@
# openpilot releases
## terms
- `channel` - a named version of openpilot (git branch, casync caibx) which receives updates
- `build` - a copy of openpilot ready for distribution, already built for a specific device
- `build_style` - type of build, either `debug` or `release`
- `debug` - build with `ALLOW_DEBUG=true`, can test experimental features like longitudinal on alpha cars
- `release` - build with `ALLOW_DEBUG=false`, experimental features disabled
## openpilot channels
| channel | build_style | description |
| ----------- | ----------- | ---------- |
| release | `release` | stable release of openpilot |
| staging | `release` | release candidate of openpilot for final verification |
| nightly | `release` | generated nightly from last commit passing CI tests |
| master | `debug` | current master commit with experimental features enabled |
| git branches | `debug` | installed manually, experimental features enabled, build required |
## build
`release/build_release.sh <build_dir>` - creates an openpilot build into `build_dir`, ready for distribution
## packaging a casync release
`release/package_casync_build.py <build_dir>` - packages an openpilot build into a casync tar and uploads to `openpilot-releases`
## release builds
to create a release build, set `RELEASE=1` environment variable when running the build script
release/build_git_release.sh
Executable
+105
View File
@@ -0,0 +1,105 @@
#!/usr/bin/bash -e
# git diff --name-status origin/release3-staging | grep "^A" | less
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
BUILD_DIR=/data/openpilot
SOURCE_DIR="$(git rev-parse --show-toplevel)"
if [ -f /TICI ]; then
FILES_SRC="release/files_tici"
else
echo "no release files set"
exit 1
fi
if [ -z "$RELEASE_BRANCH" ]; then
echo "RELEASE_BRANCH is not set"
exit 1
fi
# set git identity
source $DIR/identity.sh
echo "[-] Setting up repo T=$SECONDS"
rm -rf $BUILD_DIR
mkdir -p $BUILD_DIR
cd $BUILD_DIR
git init
git remote add origin git@github.com:commaai/openpilot.git
git checkout --orphan $RELEASE_BRANCH
# do the files copy
echo "[-] copying files T=$SECONDS"
cd $SOURCE_DIR
cp -pR --parents $(cat release/files_common) $BUILD_DIR/
cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
# in the directory
cd $BUILD_DIR
rm -f panda/board/obj/panda.bin.signed
rm -f panda/board/obj/panda_h7.bin.signed
VERSION=$(cat common/version.h | awk -F[\"-] '{print $2}')
echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
echo "[-] committing version $VERSION T=$SECONDS"
git add -f .
git commit -a -m "openpilot v$VERSION release"
# Build
export PYTHONPATH="$BUILD_DIR"
scons -j$(nproc)
# release panda fw
CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
# Ensure no submodules in release
if test "$(git submodule--helper list | wc -l)" -gt "0"; then
echo "submodules found:"
git submodule--helper list
exit 1
fi
git submodule status
# Cleanup
find . -name '*.a' -delete
find . -name '*.o' -delete
find . -name '*.os' -delete
find . -name '*.pyc' -delete
find . -name 'moc_*' -delete
find . -name '__pycache__' -delete
rm -rf .sconsign.dblite Jenkinsfile release/
rm selfdrive/modeld/models/supercombo.onnx
# Restore third_party
git checkout third_party/
# Mark as prebuilt release
touch prebuilt
# Add built files to git
git add -f .
git commit --amend -m "openpilot v$VERSION"
# Run tests
TEST_FILES="tools/"
cd $SOURCE_DIR
cp -pR -n --parents $TEST_FILES $BUILD_DIR/
cd $BUILD_DIR
RELEASE=1 selfdrive/test/test_onroad.py
#selfdrive/manager/test/test_manager.py
#selfdrive/car/tests/test_car_interfaces.py
rm -rf $TEST_FILES
if [ ! -z "$RELEASE_BRANCH" ]; then
echo "[-] pushing release T=$SECONDS"
git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
fi
echo "[-] done T=$SECONDS"
release/build_release.sh
+14 -68
View File
@@ -1,71 +1,39 @@
#!/usr/bin/bash -e
#!/usr/bin/bash
# git diff --name-status origin/release3-staging | grep "^A" | less
set -e
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
BUILD_DIR=/data/openpilot
SOURCE_DIR="$(git rev-parse --show-toplevel)"
SOURCE_DIR="$(git -C $DIR rev-parse --show-toplevel)"
BUILD_DIR=${1:-$(mktemp -d)}
if [ -f /TICI ]; then
FILES_SRC="release/files_tici"
else
echo "no release files set"
exit 1
FILES_SRC="release/files_pc"
fi
if [ -z "$RELEASE_BRANCH" ]; then
echo "RELEASE_BRANCH is not set"
exit 1
fi
echo "Building openpilot into $BUILD_DIR"
# set git identity
source $DIR/identity.sh
echo "[-] Setting up repo T=$SECONDS"
rm -rf $BUILD_DIR
mkdir -p $BUILD_DIR
cd $BUILD_DIR
git init
git remote add origin git@github.com:commaai/openpilot.git
git checkout --orphan $RELEASE_BRANCH
# do the files copy
echo "[-] copying files T=$SECONDS"
# Copy required files to BUILD_DIR
cd $SOURCE_DIR
cp -pR --parents $(cat release/files_common) $BUILD_DIR/
cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
# in the directory
# Build + cleanup
cd $BUILD_DIR
export PYTHONPATH="$BUILD_DIR"
rm -f panda/board/obj/panda.bin.signed
rm -f panda/board/obj/panda_h7.bin.signed
VERSION=$(cat common/version.h | awk -F[\"-] '{print $2}')
echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
echo "[-] committing version $VERSION T=$SECONDS"
git add -f .
git commit -a -m "openpilot v$VERSION release"
# Build
export PYTHONPATH="$BUILD_DIR"
scons -j$(nproc)
# release panda fw
CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
# Ensure no submodules in release
if test "$(git submodule--helper list | wc -l)" -gt "0"; then
echo "submodules found:"
git submodule--helper list
exit 1
if [ -n "$RELEASE" ]; then
export CERT=/data/pandaextra/certs/release
fi
git submodule status
scons -j$(nproc)
# Cleanup
find . -name '*.a' -delete
@@ -77,29 +45,7 @@ find . -name '__pycache__' -delete
rm -rf .sconsign.dblite Jenkinsfile release/
rm selfdrive/modeld/models/supercombo.onnx
# Restore third_party
git checkout third_party/
# Mark as prebuilt release
touch prebuilt
# Add built files to git
git add -f .
git commit --amend -m "openpilot v$VERSION"
# Run tests
TEST_FILES="tools/"
cd $SOURCE_DIR
cp -pR -n --parents $TEST_FILES $BUILD_DIR/
cd $BUILD_DIR
RELEASE=1 selfdrive/test/test_onroad.py
#selfdrive/manager/test/test_manager.py
selfdrive/car/tests/test_car_interfaces.py
rm -rf $TEST_FILES
if [ ! -z "$RELEASE_BRANCH" ]; then
echo "[-] pushing release T=$SECONDS"
git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
fi
echo "[-] done T=$SECONDS"
echo "----- openpilot has been built to $BUILD_DIR -----"
release/check-submodules.sh
+1 -1
View File
@@ -1,7 +1,7 @@
#!/bin/bash
while read hash submodule ref; do
git -C $submodule fetch --depth 1000 origin master
git -C $submodule fetch --depth 2000 origin master
git -C $submodule branch -r --contains $hash | grep "origin/master"
if [ "$?" -eq 0 ]; then
echo "$submodule ok"
release/files_common
+10 -8
View File
@@ -53,9 +53,10 @@ tools/replay/*.h
selfdrive/__init__.py
selfdrive/sentry.py
selfdrive/tombstoned.py
selfdrive/updated.py
selfdrive/statsd.py
selfdrive/updated/**
system/logmessaged.py
system/micd.py
system/version.py
@@ -81,11 +82,11 @@ selfdrive/boardd/panda.h
selfdrive/boardd/spi.cc
selfdrive/boardd/panda_comms.h
selfdrive/boardd/panda_comms.cc
selfdrive/boardd/set_time.py
selfdrive/boardd/pandad.py
selfdrive/boardd/tests/test_boardd_loopback.py
selfdrive/car/__init__.py
selfdrive/car/card.py
selfdrive/car/docs_definitions.py
selfdrive/car/car_helpers.py
selfdrive/car/fingerprints.py
@@ -169,7 +170,6 @@ system/hardware/tici/hardware.h
system/hardware/tici/hardware.py
system/hardware/tici/pins.py
system/hardware/tici/agnos.py
system/hardware/tici/casync.py
system/hardware/tici/agnos.json
system/hardware/tici/amplifier.py
system/hardware/tici/updater
@@ -181,10 +181,13 @@ system/hardware/pc/hardware.py
system/ubloxd/.gitignore
system/ubloxd/SConscript
system/ubloxd/pigeond.py
system/ubloxd/generated/*
system/ubloxd/*.h
system/ubloxd/*.cc
system/updated/*
selfdrive/locationd/__init__.py
selfdrive/locationd/SConscript
selfdrive/locationd/.gitignore
@@ -240,7 +243,6 @@ system/sensord/SConscript
system/sensord/sensors_qcom2.cc
system/sensord/sensors/*.cc
system/sensord/sensors/*.h
system/sensord/pigeond.py
system/webrtc/__init__.py
system/webrtc/webrtcd.py
@@ -278,6 +280,8 @@ selfdrive/ui/qt/network/*.h
selfdrive/ui/qt/offroad/*.cc
selfdrive/ui/qt/offroad/*.h
selfdrive/ui/qt/offroad/*.qml
selfdrive/ui/qt/onroad/*.cc
selfdrive/ui/qt/onroad/*.h
selfdrive/ui/qt/widgets/*.cc
selfdrive/ui/qt/widgets/*.h
selfdrive/ui/qt/maps/*.cc
@@ -314,7 +318,6 @@ selfdrive/modeld/modeld.py
selfdrive/modeld/parse_model_outputs.py
selfdrive/modeld/fill_model_msg.py
selfdrive/modeld/get_model_metadata.py
selfdrive/modeld/navmodeld.py
selfdrive/modeld/dmonitoringmodeld.py
selfdrive/modeld/constants.py
selfdrive/modeld/modeld
@@ -330,8 +333,6 @@ selfdrive/modeld/models/supercombo.onnx
selfdrive/modeld/models/dmonitoring_model_q.dlc
selfdrive/modeld/models/navmodel_q.dlc
selfdrive/modeld/transforms/loadyuv.cc
selfdrive/modeld/transforms/loadyuv.h
selfdrive/modeld/transforms/loadyuv.cl
@@ -541,7 +542,8 @@ opendbc/vw_golf_mk4.dbc
opendbc/vw_mqb_2010.dbc
opendbc/tesla_can.dbc
opendbc/tesla_radar.dbc
opendbc/tesla_radar_bosch_generated.dbc
opendbc/tesla_radar_continental_generated.dbc
opendbc/tesla_powertrain.dbc
tinygrad_repo/openpilot/compile2.py
release/files_tici
+1 -1
View File
@@ -7,7 +7,7 @@ system/camerad/cameras/camera_qcom2.cc
system/camerad/cameras/camera_qcom2.h
system/camerad/cameras/camera_util.cc
system/camerad/cameras/camera_util.h
system/camerad/cameras/real_debayer.cl
system/camerad/cameras/process_raw.cl
system/qcomgpsd/*
release/package_casync_agnos.py
Executable
+59
View File
@@ -0,0 +1,59 @@
#!/usr/bin/env python3
import argparse
import json
import os
import pathlib
import tempfile
import time
from openpilot.common.basedir import BASEDIR
from openpilot.system.hardware.tici.agnos import StreamingDecompressor, unsparsify, noop, AGNOS_MANIFEST_FILE
from openpilot.system.updated.casync.common import create_casync_from_file
from release.package_casync_build import upload_casync_release
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="creates a casync release")
parser.add_argument("--manifest", type=str, help="json manifest to create agnos release from", \
default=str(pathlib.Path(BASEDIR) / AGNOS_MANIFEST_FILE))
args = parser.parse_args()
manifest_file = pathlib.Path(args.manifest)
with tempfile.TemporaryDirectory() as temp_dir:
working_dir = pathlib.Path(temp_dir)
casync_dir = working_dir / "casync"
casync_dir.mkdir()
agnos_casync_dir = casync_dir / "agnos"
agnos_casync_dir.mkdir()
entry_path = working_dir / "entry"
with open(manifest_file) as f:
manifest = json.load(f)
for entry in manifest:
print(f"creating casync agnos build from {entry}")
start = time.monotonic()
downloader = StreamingDecompressor(entry['url'])
parse_func = unsparsify if entry['sparse'] else noop
parsed_chunks = parse_func(downloader)
size = entry["size"]
cur = 0
with open(entry_path, "wb") as f:
for chunk in parsed_chunks:
f.write(chunk)
print(f"downloaded in {time.monotonic() - start}")
start = time.monotonic()
agnos_filename = os.path.basename(entry["url"]).split(".")[0]
create_casync_from_file(entry_path, agnos_casync_dir, agnos_filename)
print(f"created casnc in {time.monotonic() - start}")
upload_casync_release(casync_dir)
release/package_casync_build.py
Executable
+108
View File
@@ -0,0 +1,108 @@
#!/usr/bin/env python3
# packages a casync release, uploads to azure, and creates a manifest
import argparse
import dataclasses
import json
import os
import pathlib
import tempfile
from openpilot.system.hardware.tici.agnos import AGNOS_MANIFEST_FILE, get_partition_path
from openpilot.system.updated.casync.common import create_build_metadata_file, create_casync_release
from openpilot.system.version import get_build_metadata
from openpilot.tools.lib.azure_container import AzureContainer
BASE_URL = "https://commadist.blob.core.windows.net"
OPENPILOT_RELEASES = f"{BASE_URL}/openpilot-releases/openpilot"
AGNOS_RELEASES = f"{BASE_URL}/openpilot-releases/agnos"
def create_casync_caibx(target_dir: pathlib.Path, output_dir: pathlib.Path):
output_dir.mkdir()
build_metadata = get_build_metadata()
build_metadata.openpilot.build_style = "release" if os.environ.get("RELEASE", None) is not None else "debug"
create_build_metadata_file(target_dir, build_metadata)
digest, caibx = create_casync_release(target_dir, output_dir, build_metadata.canonical)
print(f"Created casync release from {target_dir} to {caibx} with digest {digest}")
def upload_casync_release(casync_dir: pathlib.Path):
if "AZURE_TOKEN_OPENPILOT_RELEASES" in os.environ:
os.environ["AZURE_TOKEN"] = os.environ["AZURE_TOKEN_OPENPILOT_RELEASES"]
OPENPILOT_RELEASES_CONTAINER = AzureContainer("commadist", "openpilot-releases")
for f in casync_dir.rglob("*"):
if f.is_file():
blob_name = f.relative_to(casync_dir)
print(f"uploading {f} to {blob_name}")
OPENPILOT_RELEASES_CONTAINER.upload_file(str(f), str(blob_name), overwrite=True)
def create_partition_manifest(partition):
agnos_filename = os.path.basename(partition["url"]).split(".")[0]
return {
"type": "partition",
"casync": {
"caibx": f"{AGNOS_RELEASES}/{agnos_filename}.caibx"
},
"path": get_partition_path(0, partition),
"ab": True,
"size": partition["size"],
"full_check": partition["full_check"],
"hash_raw": partition["hash_raw"],
}
def create_openpilot_manifest(build_metadata):
return {
"type": "path_tarred",
"path": "/data/openpilot",
"casync": {
"caibx": f"{OPENPILOT_RELEASES}/{build_metadata.canonical}.caibx"
}
}
def create_manifest(target_dir):
with open(pathlib.Path(target_dir) / AGNOS_MANIFEST_FILE) as f:
agnos_manifest = json.load(f)
build_metadata = get_build_metadata(args.target_dir)
return {
"build_metadata": dataclasses.asdict(build_metadata),
"manifest": [
*[create_partition_manifest(entry) for entry in agnos_manifest],
create_openpilot_manifest(build_metadata)
]
}
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="creates a casync release")
parser.add_argument("target_dir", type=str, help="path to a release build of openpilot to create release from")
args = parser.parse_args()
target_dir = pathlib.Path(args.target_dir)
with tempfile.TemporaryDirectory() as temp_dir:
casync_dir = pathlib.Path(temp_dir) / "casync"
casync_dir.mkdir(parents=True)
manifest_file = pathlib.Path(temp_dir) / "manifest.json"
create_casync_caibx(target_dir, casync_dir / "openpilot")
upload_casync_release(casync_dir)
manifest = create_manifest(target_dir)
print(json.dumps(manifest, indent=2))
release/verify.sh
-16
View File
@@ -1,16 +0,0 @@
#!/bin/bash
set -e
RED="\033[0;31m"
GREEN="\033[0;32m"
CLEAR="\033[0m"
BRANCHES="devel release3"
for b in $BRANCHES; do
if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
printf "%-10s $GREEN ok $CLEAR\n" "$b"
else
printf "%-10s $RED mismatch $CLEAR\n" "$b"
fi
done
scripts/cell.sh
+2 -2
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 lte
nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
nmcli con up esim
scripts/count_cars.py
+2 -2
View File
@@ -2,10 +2,10 @@
from collections import Counter
from pprint import pprint
from openpilot.selfdrive.car.docs import get_all_car_info
from openpilot.selfdrive.car.docs import get_all_car_docs
if __name__ == "__main__":
cars = get_all_car_info()
cars = get_all_car_docs()
make_count = Counter(l.make for l in cars)
print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
pprint(make_count)
scripts/launch_corolla.sh
+1 -1
View File
@@ -2,6 +2,6 @@
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
export FINGERPRINT="TOYOTA COROLLA TSS2 2019"
export FINGERPRINT="TOYOTA_COROLLA_TSS2"
export SKIP_FW_QUERY="1"
$DIR/../launch_openpilot.sh
scripts/stop_updater.sh
+1 -1
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env sh
# Stop updater
pkill -2 -f selfdrive.updated
pkill -2 -f selfdrive.updated.updated
# Remove pending update
rm -f /data/safe_staging/finalized/.overlay_consistent
selfdrive/athena/athenad.py
+6 -5
View File
@@ -37,7 +37,7 @@ from openpilot.common.realtime import set_core_affinity
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
from openpilot.common.swaglog import cloudlog
from openpilot.system.version import get_commit, get_normalized_origin, get_short_branch, get_version
from openpilot.system.version import get_build_metadata
from openpilot.system.hardware.hw import Paths
@@ -319,11 +319,12 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
@dispatcher.add_method
def getVersion() -> dict[str, str]:
build_metadata = get_build_metadata()
return {
"version": get_version(),
"remote": get_normalized_origin(),
"branch": get_short_branch(),
"commit": get_commit(),
"version": build_metadata.openpilot.version,
"remote": build_metadata.openpilot.git_normalized_origin,
"branch": build_metadata.channel,
"commit": build_metadata.openpilot.git_commit,
}
selfdrive/athena/manage_athenad.py
+8 -6
View File
@@ -7,7 +7,7 @@ from openpilot.common.params import Params
from openpilot.selfdrive.manager.process import launcher
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import HARDWARE
from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty
from openpilot.system.version import get_build_metadata
ATHENA_MGR_PID_PARAM = "AthenadPid"
@@ -15,12 +15,14 @@ ATHENA_MGR_PID_PARAM = "AthenadPid"
def main():
params = Params()
dongle_id = params.get("DongleId").decode('utf-8')
build_metadata = get_build_metadata()
cloudlog.bind_global(dongle_id=dongle_id,
version=get_version(),
origin=get_normalized_origin(),
branch=get_short_branch(),
commit=get_commit(),
dirty=is_dirty(),
version=build_metadata.openpilot.version,
origin=build_metadata.openpilot.git_normalized_origin,
branch=build_metadata.channel,
commit=build_metadata.openpilot.git_commit,
dirty=build_metadata.openpilot.is_dirty,
device=HARDWARE.get_device_type())
try:
selfdrive/boardd/boardd.cc
+1 -44
View File
@@ -49,12 +49,6 @@ std::atomic<bool> ignition(false);
ExitHandler do_exit;
static std::string get_time_str(const struct tm &time) {
char s[30] = {'\0'};
std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
return s;
}
bool check_all_connected(const std::vector<Panda *> &pandas) {
for (const auto& panda : pandas) {
if (!panda->connected()) {
@@ -65,36 +59,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
return true;
}
enum class SyncTimeDir { TO_PANDA, FROM_PANDA };
void sync_time(Panda *panda, SyncTimeDir dir) {
if (!panda->has_rtc) return;
setenv("TZ", "UTC", 1);
struct tm sys_time = util::get_time();
struct tm rtc_time = panda->get_rtc();
if (dir == SyncTimeDir::TO_PANDA) {
if (util::time_valid(sys_time)) {
// Write time to RTC if it looks reasonable
double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
if (std::abs(seconds) > 1.1) {
panda->set_rtc(sys_time);
LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
}
}
} else if (dir == SyncTimeDir::FROM_PANDA) {
LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
const struct timeval tv = {mktime(&rtc_time), 0};
settimeofday(&tv, 0);
LOGE("System time wrong, setting from RTC.");
}
}
}
bool safety_setter_thread(std::vector<Panda *> pandas) {
LOGD("Starting safety setter thread");
@@ -180,7 +144,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
Panda *connect(std::string serial="", uint32_t index=0) {
std::unique_ptr<Panda> panda;
try {
panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_CNT));
panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
} catch (std::exception &e) {
return nullptr;
}
@@ -195,7 +159,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
}
sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
return panda.release();
}
@@ -353,7 +316,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
ps.setControlsAllowed(health.controls_allowed_pkt);
ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
ps.setPandaType(panda->hw_type);
ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
ps.setSafetyParam(health.safety_param_pkt);
@@ -581,11 +543,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
panda->set_ir_pwr(ir_pwr);
prev_ir_pwr = ir_pwr;
}
// Write to rtc once per minute when no ignition present
if (!ignition && (sm.frame % 120 == 1)) {
sync_time(panda, SyncTimeDir::TO_PANDA);
}
}
}
selfdrive/boardd/panda.cc
+8 -46
View File
@@ -25,10 +25,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
}
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);
can_reset_communications();
return;
@@ -77,41 +73,6 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
return (cereal::PandaState::PandaType)(hw_query[0]);
}
void Panda::set_rtc(struct tm sys_time) {
// tm struct has year defined as years since 1900
handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
// handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
}
struct tm Panda::get_rtc() {
struct __attribute__((packed)) timestamp_t {
uint16_t year; // Starts at 0
uint8_t month;
uint8_t day;
uint8_t weekday;
uint8_t hour;
uint8_t minute;
uint8_t second;
} rtc_time = {0};
handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
struct tm new_time = { 0 };
new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
new_time.tm_mon = rtc_time.month - 1;
new_time.tm_mday = rtc_time.day;
new_time.tm_hour = rtc_time.hour;
new_time.tm_min = rtc_time.minute;
new_time.tm_sec = rtc_time.second;
return new_time;
}
void Panda::set_fan_speed(uint16_t fan_speed) {
handle->control_write(0xb1, fan_speed, 0);
}
@@ -211,7 +172,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
for (auto cmsg : can_data_list) {
// check if the message is intended for this panda
uint8_t bus = cmsg.getSrc();
if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) {
if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
continue;
}
auto can_data = cmsg.getDat();
@@ -284,6 +245,13 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
break;
}
if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
// TODO: also reset CAN comms?
LOGE("Panda CAN checksum failed");
size = 0;
return false;
}
can_frame &canData = out_vec.emplace_back();
canData.busTime = 0;
canData.address = header.addr;
@@ -295,12 +263,6 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
canData.src += CAN_RETURNED_BUS_OFFSET;
}
if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
LOGE("Panda CAN checksum failed");
size = 0;
return false;
}
canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
pos += sizeof(can_header) + data_len;
selfdrive/boardd/panda.h
+2 -3
View File
@@ -23,6 +23,8 @@
#define CAN_REJECTED_BUS_OFFSET 0xC0U
#define CAN_RETURNED_BUS_OFFSET 0x80U
#define PANDA_BUS_OFFSET 4
struct __attribute__((packed)) can_header {
uint8_t reserved : 1;
uint8_t bus : 3;
@@ -50,7 +52,6 @@ public:
Panda(std::string serial="", uint32_t bus_offset=0);
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
bool has_rtc = false;
const uint32_t bus_offset;
bool connected();
@@ -64,8 +65,6 @@ public:
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
void set_alternative_experience(uint16_t alternative_experience);
void set_rtc(struct tm sys_time);
struct tm get_rtc();
void set_fan_speed(uint16_t fan_speed);
uint16_t get_fan_speed();
void set_ir_pwr(uint16_t ir_pwr);
selfdrive/boardd/pandad.py
+5 -29
View File
@@ -5,12 +5,10 @@ import usb1
import time
import subprocess
from typing import NoReturn
from functools import cmp_to_key
from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.selfdrive.boardd.set_time import set_time
from openpilot.system.hardware import HARDWARE
from openpilot.common.swaglog import cloudlog
@@ -63,24 +61,6 @@ def flash_panda(panda_serial: str) -> Panda:
return panda
def panda_sort_cmp(a: Panda, b: Panda):
a_type = a.get_type()
b_type = b.get_type()
# make sure the internal one is always first
if a.is_internal() and not b.is_internal():
return -1
if not a.is_internal() and b.is_internal():
return 1
# sort by hardware type
if a_type != b_type:
return a_type < b_type
# last resort: sort by serial number
return a.get_usb_serial() < b.get_usb_serial()
def main() -> NoReturn:
count = 0
first_run = True
@@ -137,7 +117,10 @@ def main() -> NoReturn:
no_internal_panda_count = 0
# sort pandas to have deterministic order
pandas.sort(key=cmp_to_key(panda_sort_cmp))
# * the internal one is always first
# * then sort by hardware type
# * as a last resort, sort by serial number
pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial()))
panda_serials = [p.get_usb_serial() for p in pandas]
# log panda fw versions
@@ -154,16 +137,9 @@ def main() -> NoReturn:
cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
if first_run:
if panda.is_internal():
# update time from RTC
set_time(cloudlog)
# reset panda to ensure we're in a good state
cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
if panda.is_internal():
HARDWARE.reset_internal_panda()
else:
panda.reset(reconnect=False)
panda.reset(reconnect=True)
for p in pandas:
p.close()
selfdrive/boardd/set_time.py
-38
View File
@@ -1,38 +0,0 @@
#!/usr/bin/env python3
import os
import datetime
from panda import Panda
from openpilot.common.time import MIN_DATE
def set_time(logger):
sys_time = datetime.datetime.today()
if sys_time > MIN_DATE:
logger.info("System time valid")
return
try:
ps = Panda.list()
if len(ps) == 0:
logger.error("Failed to set time, no pandas found")
return
for s in ps:
with Panda(serial=s) as p:
if not p.is_internal():
continue
# Set system time from panda RTC time
panda_time = p.get_datetime()
if panda_time > MIN_DATE:
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
os.system(f"TZ=UTC date -s '{panda_time}'")
break
except Exception:
logger.exception("Failed to fetch time from panda")
if __name__ == "__main__":
import logging
logging.basicConfig(level=logging.DEBUG)
set_time(logging)
selfdrive/boardd/tests/test_boardd_usbprotocol.cc
+1 -1
View File
@@ -40,7 +40,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
const std::string &dat = test_data[dlc_to_len[id]];
can.setAddress(i);
can.setSrc(util::random_int(0, 3) + bus_offset);
can.setSrc(util::random_int(0, 2) + bus_offset);
can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
total_pakets_size += sizeof(can_header) + dat.size();
}
selfdrive/boardd/tests/test_pandad.py
+25 -11
View File
@@ -23,23 +23,28 @@ class TestPandad(unittest.TestCase):
if len(Panda.list()) == 0:
self._run_test(60)
self.spi = HARDWARE.get_device_type() != 'tici'
def tearDown(self):
managed_processes['pandad'].stop()
def _run_test(self, timeout=30):
def _run_test(self, timeout=30) -> float:
st = time.monotonic()
sm = messaging.SubMaster(['pandaStates'])
managed_processes['pandad'].start()
sm = messaging.SubMaster(['peripheralState'])
for _ in range(timeout*10):
while (time.monotonic() - st) < timeout:
sm.update(100)
if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
break
dt = time.monotonic() - st
managed_processes['pandad'].stop()
if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
raise Exception("boardd failed to start")
return dt
def _go_to_dfu(self):
HARDWARE.recover_internal_panda()
assert Panda.wait_for_dfu(None, 10)
@@ -88,14 +93,23 @@ class TestPandad(unittest.TestCase):
assert any(Panda(s).is_internal() for s in Panda.list())
def test_best_case_startup_time(self):
# run once so we're setup
# run once so we're up to date
self._run_test(60)
# should be fast this time
self._run_test(8)
ts = []
for _ in range(10):
# should be nearly instant this time
dt = self._run_test(5)
ts.append(dt)
# 5s for USB (due to enumeration)
# - 0.2s pandad -> boardd
# - plus some buffer
assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
print("startup times", ts, sum(ts) / len(ts))
def test_protocol_version_check(self):
if HARDWARE.get_device_type() == 'tici':
if not self.spi:
raise unittest.SkipTest("SPI test")
# flash old fw
fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
selfdrive/car/CARS_template.md
+4 -3
View File
@@ -12,12 +12,12 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# {{all_car_info | length}} Supported Cars
# {{all_car_docs | length}} Supported Cars
|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
{% for car_info in all_car_info %}
|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
{% for car_docs in all_car_docs %}
|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
{% endfor %}
@@ -67,6 +67,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
* Toyota Tundra 2022+
* Toyota Highlander 2024+
* Toyota Corolla Cross 2022+ (only US model)
* Toyota Camry 2025+
* Lexus NX 2022+
* Toyota bZ4x 2023+
* Subaru Solterra 2023+
selfdrive/car/__init__.py
+22 -48
View File
@@ -1,7 +1,7 @@
# functions common among cars
from collections import defaultdict, namedtuple
from dataclasses import dataclass
from enum import IntFlag, ReprEnum
from enum import IntFlag, ReprEnum, EnumType
from dataclasses import replace
import capnp
@@ -9,7 +9,7 @@ import capnp
from cereal import car
from openpilot.common.numpy_fast import clip, interp
from openpilot.common.utils import Freezable
from openpilot.selfdrive.car.docs_definitions import CarInfo
from openpilot.selfdrive.car.docs_definitions import CarDocs
# kg of standard extra cargo to count for drive, gas, etc...
@@ -165,41 +165,6 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
return above_limit_frames, request
def crc8_pedal(data):
crc = 0xFF # standard init value
poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1
size = len(data)
for i in range(size - 1, -1, -1):
crc ^= data[i]
for _ in range(8):
if ((crc & 0x80) != 0):
crc = ((crc << 1) ^ poly) & 0xFF
else:
crc <<= 1
return crc
def create_gas_interceptor_command(packer, gas_amount, idx):
# Common gas pedal msg generator
enable = gas_amount > 0.001
values = {
"ENABLE": enable,
"COUNTER_PEDAL": idx & 0xF,
}
if enable:
values["GAS_COMMAND"] = gas_amount * 255.
values["GAS_COMMAND2"] = gas_amount * 255.
dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
checksum = crc8_pedal(dat[:-1])
values["CHECKSUM_PEDAL"] = checksum
return packer.make_can_msg("GAS_COMMAND", 0, values)
def make_can_msg(addr, dat, bus):
return [addr, 0, dat, bus]
@@ -245,9 +210,6 @@ class CanSignalRateCalculator:
return self.rate
CarInfos = CarInfo | list[CarInfo] | None
@dataclass(frozen=True, kw_only=True)
class CarSpecs:
mass: float # kg, curb weight
@@ -264,14 +226,15 @@ class CarSpecs:
@dataclass(order=True)
class PlatformConfig(Freezable):
platform_str: str
car_info: CarInfos
car_docs: list[CarDocs]
specs: CarSpecs
dbc_dict: DbcDict
flags: int = 0
platform_str: str | None = None
def __hash__(self) -> int:
return hash(self.platform_str)
@@ -283,10 +246,18 @@ class PlatformConfig(Freezable):
def __post_init__(self):
self.init()
self.freeze()
class Platforms(str, ReprEnum):
class PlatformsType(EnumType):
def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
for key in classdict._member_names.keys():
cfg: PlatformConfig = classdict[key]
cfg.platform_str = key
cfg.freeze()
return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
class Platforms(str, ReprEnum, metaclass=PlatformsType):
config: PlatformConfig
def __new__(cls, platform_config: PlatformConfig):
@@ -295,18 +266,21 @@ class Platforms(str, ReprEnum):
member._value_ = platform_config.platform_str
return member
def __repr__(self):
return f"<{self.__class__.__name__}.{self.name}>"
@classmethod
def create_dbc_map(cls) -> dict[str, DbcDict]:
return {p: p.config.dbc_dict for p in cls}
@classmethod
def create_carinfo_map(cls) -> dict[str, CarInfos]:
return {p: p.config.car_info for p in cls}
@classmethod
def with_flags(cls, flags: IntFlag) -> set['Platforms']:
return {p for p in cls if p.config.flags & flags}
@classmethod
def without_flags(cls, flags: IntFlag) -> set['Platforms']:
return {p for p in cls if not (p.config.flags & flags)}
@classmethod
def print_debug(cls, flags):
platforms_with_flag = defaultdict(list)
selfdrive/car/body/fingerprints.py
+2 -2
View File
@@ -8,13 +8,13 @@ Ecu = car.CarParams.Ecu
FINGERPRINTS = {
CAR.BODY: [{
CAR.COMMA_BODY: [{
513: 8, 516: 8, 514: 3, 515: 4
}],
}
FW_VERSIONS = {
CAR.BODY: {
CAR.COMMA_BODY: {
(Ecu.engine, 0x720, None): [
b'0.0.01',
b'0.3.00a',
selfdrive/car/body/interface.py
-3
View File
@@ -37,6 +37,3 @@ class CarInterface(CarInterfaceBase):
self.frame += 1
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/body/values.py
+3 -5
View File
@@ -1,6 +1,6 @@
from cereal import car
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarInfo
from openpilot.selfdrive.car.docs_definitions import CarDocs
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
@@ -20,9 +20,8 @@ class CarControllerParams:
class CAR(Platforms):
BODY = PlatformConfig(
"COMMA BODY",
CarInfo("comma body", package="All"),
COMMA_BODY = PlatformConfig(
[CarDocs("comma body", package="All")],
CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
dbc_dict('comma_body', None),
)
@@ -38,5 +37,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/car_helpers.py
+15 -22
View File
@@ -4,9 +4,6 @@ from collections.abc import Callable
from cereal import car
from openpilot.common.params import Params
from openpilot.common.basedir import BASEDIR
from openpilot.selfdrive.car.values import PLATFORMS
from openpilot.system.version import is_comma_remote, is_tested_branch
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
@@ -15,6 +12,7 @@ from openpilot.selfdrive.car.mock.values import CAR as MOCK
from openpilot.common.swaglog import cloudlog
import cereal.messaging as messaging
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.system.version import get_build_metadata
FRAME_FINGERPRINT = 100 # 1s
@@ -22,7 +20,8 @@ EventName = car.CarEvent.EventName
def get_startup_event(car_recognized, controller_available, fw_seen):
if is_comma_remote() and is_tested_branch():
build_metadata = get_build_metadata()
if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
event = EventName.startup
else:
event = EventName.startupMaster
@@ -49,17 +48,8 @@ def load_interfaces(brand_names):
for brand_name in brand_names:
path = f'openpilot.selfdrive.car.{brand_name}'
CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
else:
CarState = None
if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
else:
CarController = None
CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
for model_name in brand_names[brand_name]:
ret[model_name] = (CarInterface, CarController, CarState)
return ret
@@ -149,10 +139,10 @@ def fingerprint(logcan, sendcan, num_pandas):
# VIN query only reliably works through OBDII
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas)
cached = False
exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
else:
vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
exact_fw_match, fw_candidates, car_fw = True, set(), []
@@ -192,9 +182,12 @@ def fingerprint(logcan, sendcan, num_pandas):
fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
car_platform = PLATFORMS.get(car_fingerprint, MOCK.MOCK)
return car_fingerprint, finger, vin, car_fw, source, exact_match
return car_platform, finger, vin, car_fw, source, exact_match
def get_car_interface(CP):
CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
return CarInterface(CP, CarController, CarState)
def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
@@ -202,16 +195,16 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
if candidate is None:
cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
candidate = "mock"
candidate = "MOCK"
CarInterface, CarController, CarState = interfaces[candidate]
CarInterface, _, _ = interfaces[candidate]
CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
CP.carVin = vin
CP.carFw = car_fw
CP.fingerprintSource = source
CP.fuzzyFingerprint = not exact_match
return CarInterface(CP, CarController, CarState), CP
return get_car_interface(CP), CP
def write_car_param(platform=MOCK.MOCK):
params = Params()
selfdrive/car/card.py
Executable
+142
View File
@@ -0,0 +1,142 @@
#!/usr/bin/env python3
import os
import time
import cereal.messaging as messaging
from cereal import car
from panda import ALTERNATIVE_EXPERIENCE
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
REPLAY = "REPLAY" in os.environ
class CarD:
CI: CarInterfaceBase
CS: car.CarState
def __init__(self, CI=None):
self.can_sock = messaging.sub_sock('can', timeout=20)
self.sm = messaging.SubMaster(['pandaStates'])
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
self.can_rcv_timeout_counter = 0 # conseuctive timeout count
self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count
self.CC_prev = car.CarControl.new_message()
self.last_actuators = None
self.params = Params()
if CI is None:
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
else:
self.CI, self.CP = CI, CI.CP
# set alternative experiences from parameters
disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
if not disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
car_recognized = self.CP.carName != 'mock'
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
if self.CP.passive:
safety_config = car.CarParams.SafetyConfig.new_message()
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
self.CP.safetyConfigs = [safety_config]
# Write previous route's CarParams
prev_cp = self.params.get("CarParamsPersistent")
if prev_cp is not None:
self.params.put("CarParamsPrevRoute", prev_cp)
# Write CarParams for controls and radard
cp_bytes = self.CP.to_bytes()
self.params.put("CarParams", cp_bytes)
self.params.put_nonblocking("CarParamsCache", cp_bytes)
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
def initialize(self):
"""Initialize CarInterface, once controls are ready"""
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
def state_update(self):
"""carState update loop, driven by can"""
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
self.CS = self.CI.update(self.CC_prev, can_strs)
self.sm.update(0)
can_rcv_valid = len(can_strs) > 0
# Check for CAN timeout
if not can_rcv_valid:
self.can_rcv_timeout_counter += 1
self.can_rcv_cum_timeout_counter += 1
else:
self.can_rcv_timeout_counter = 0
self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
if can_rcv_valid and REPLAY:
self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
self.state_publish()
return self.CS
def state_publish(self):
"""carState and carParams publish loop"""
# carState
cs_send = messaging.new_message('carState')
cs_send.valid = self.CS.canValid
cs_send.carState = self.CS
self.pm.send('carState', cs_send)
# carParams - logged every 50 seconds (> 1 per segment)
if (self.sm.frame % int(50. / DT_CTRL) == 0):
cp_send = messaging.new_message('carParams')
cp_send.valid = True
cp_send.carParams = self.CP
self.pm.send('carParams', cp_send)
# publish new carOutput
co_send = messaging.new_message('carOutput')
co_send.valid = True
if self.last_actuators is not None:
co_send.carOutput.actuatorsOutput = self.last_actuators
self.pm.send('carOutput', co_send)
def controls_update(self, CC: car.CarControl):
"""control update loop, driven by carControl"""
# send car controls over can
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
self.CC_prev = CC
selfdrive/car/chrysler/carstate.py
+6
View File
@@ -21,10 +21,16 @@ class CarState(CarStateBase):
else:
self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
self.prev_distance_button = 0
self.distance_button = 0
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
# lock info
ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
cp.vl["BCM_1"]["DOOR_OPEN_FR"],
selfdrive/car/chrysler/fingerprints.py
+37 -7
View File
@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR
Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.PACIFICA_2017_HYBRID: {
CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [
b'68239262AH',
b'68239262AI',
@@ -33,7 +33,7 @@ FW_VERSIONS = {
b'05190226AK',
],
},
CAR.PACIFICA_2018: {
CAR.CHRYSLER_PACIFICA_2018: {
(Ecu.combinationMeter, 0x742, None): [
b'68227902AF',
b'68227902AG',
@@ -81,6 +81,7 @@ FW_VERSIONS = {
b'68277370AJ',
b'68277370AM',
b'68277372AD',
b'68277372AE',
b'68277372AN',
b'68277374AA',
b'68277374AB',
@@ -90,14 +91,16 @@ FW_VERSIONS = {
b'68380571AB',
],
},
CAR.PACIFICA_2020: {
CAR.CHRYSLER_PACIFICA_2020: {
(Ecu.combinationMeter, 0x742, None): [
b'68405327AC',
b'68436233AB',
b'68436233AC',
b'68436234AB',
b'68436250AE',
b'68529067AA',
b'68594993AB',
b'68594994AB',
],
(Ecu.srs, 0x744, None): [
b'68405565AB',
@@ -121,15 +124,18 @@ FW_VERSIONS = {
b'68540436AC',
b'68540436AD',
b'68598670AB',
b'68598670AC',
],
(Ecu.eps, 0x75a, None): [
b'68416742AA',
b'68460393AA',
b'68460393AB',
b'68494461AB',
b'68494461AC',
b'68524936AA',
b'68524936AB',
b'68525338AB',
b'68594337AB',
b'68594340AB',
],
(Ecu.engine, 0x7e0, None): [
@@ -141,10 +147,14 @@ FW_VERSIONS = {
b'68443120AE ',
b'68443123AC ',
b'68443125AC ',
b'68496647AJ ',
b'68496650AH ',
b'68496650AI ',
b'68526752AD ',
b'68526752AE ',
b'68526754AE ',
b'68536264AE ',
b'68700304AB ',
b'68700306AB ',
],
(Ecu.transmission, 0x7e1, None): [
@@ -155,12 +165,14 @@ FW_VERSIONS = {
b'68443155AC',
b'68443158AB',
b'68501050AD',
b'68501055AD',
b'68527221AB',
b'68527223AB',
b'68586231AD',
b'68586233AD',
],
},
CAR.PACIFICA_2018_HYBRID: {
CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [
b'68358439AE',
b'68358439AG',
@@ -187,7 +199,7 @@ FW_VERSIONS = {
b'05190226AM',
],
},
CAR.PACIFICA_2019_HYBRID: {
CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [
b'68405292AC',
b'68434956AC',
@@ -258,6 +270,7 @@ FW_VERSIONS = {
b'68331511AC',
b'68331574AC',
b'68331687AC',
b'68331690AC',
b'68340272AD',
],
(Ecu.srs, 0x744, None): [
@@ -362,7 +375,7 @@ FW_VERSIONS = {
b'68503664AC',
],
},
CAR.RAM_1500: {
CAR.RAM_1500_5TH_GEN: {
(Ecu.combinationMeter, 0x742, None): [
b'68294051AG',
b'68294051AI',
@@ -379,10 +392,12 @@ FW_VERSIONS = {
b'68434859AC',
b'68434860AC',
b'68453483AC',
b'68453483AD',
b'68453487AD',
b'68453491AC',
b'68453499AD',
b'68453503AC',
b'68453503AD',
b'68453505AC',
b'68453505AD',
b'68453511AC',
@@ -404,9 +419,12 @@ FW_VERSIONS = {
b'68527383AD',
b'68527387AE',
b'68527403AC',
b'68527403AD',
b'68546047AF',
b'68631938AA',
b'68631940AA',
b'68631942AA',
b'68631943AB',
],
(Ecu.srs, 0x744, None): [
b'68428609AB',
@@ -418,6 +436,7 @@ FW_VERSIONS = {
b'68615034AA',
],
(Ecu.abs, 0x747, None): [
b'68292406AG',
b'68292406AH',
b'68432418AB',
b'68432418AD',
@@ -469,6 +488,7 @@ FW_VERSIONS = {
b'68552790AA',
b'68552791AB',
b'68552794AA',
b'68552794AD',
b'68585106AB',
b'68585107AB',
b'68585108AB',
@@ -477,9 +497,12 @@ FW_VERSIONS = {
],
(Ecu.engine, 0x7e0, None): [
b'05035699AG ',
b'05035841AC ',
b'05035841AD ',
b'05036026AB ',
b'05036065AE ',
b'05036066AE ',
b'05036193AA ',
b'05149368AA ',
b'05149591AD ',
b'05149591AE ',
@@ -496,6 +519,7 @@ FW_VERSIONS = {
b'68378701AI ',
b'68378702AI ',
b'68378710AL ',
b'68378742AI ',
b'68378748AL ',
b'68378758AM ',
b'68448163AJ',
@@ -509,27 +533,32 @@ FW_VERSIONS = {
b'68455145AE ',
b'68455146AC ',
b'68467915AC ',
b'68467916AC ',
b'68467936AC ',
b'68500630AD',
b'68500630AE',
b'68502719AC ',
b'68502722AC ',
b'68502733AC ',
b'68502734AF ',
b'68502740AF ',
b'68502741AF ',
b'68502742AC ',
b'68502742AF ',
b'68539650AD',
b'68539650AF',
b'68539651AD',
b'68586101AA ',
b'68586105AB ',
b'68629922AC ',
b'68629925AC ',
b'68629926AC ',
],
(Ecu.transmission, 0x7e1, None): [
b'05035706AD',
b'05035842AB',
b'05036069AA',
b'05036181AA',
b'05149536AC',
b'05149537AC',
b'05149543AC',
@@ -539,6 +568,7 @@ FW_VERSIONS = {
b'68360081AM',
b'68360085AJ',
b'68360085AL',
b'68360086AH',
b'68384328AD',
b'68384332AD',
b'68445531AC',
@@ -559,7 +589,7 @@ FW_VERSIONS = {
b'68629936AC',
],
},
CAR.RAM_HD: {
CAR.RAM_HD_5TH_GEN: {
(Ecu.combinationMeter, 0x742, None): [
b'68361606AH',
b'68437735AC',
selfdrive/car/chrysler/interface.py
+10 -8
View File
@@ -1,10 +1,12 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
@@ -27,13 +29,14 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in RAM_CARS:
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
if new_eps_platform or new_eps_firmware:
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
# Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@@ -49,14 +52,14 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.00006
# Ram
elif candidate == CAR.RAM_1500:
elif candidate == CAR.RAM_1500_5TH_GEN:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD:
elif candidate == CAR.RAM_HD_5TH_GEN:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
@@ -76,6 +79,8 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
@@ -90,6 +95,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/chrysler/values.py
+28 -39
View File
@@ -4,7 +4,7 @@ from dataclasses import dataclass, field
from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu
@@ -15,7 +15,7 @@ class ChryslerFlags(IntFlag):
HIGHER_MIN_STEERING_SPEED = 1
@dataclass
class ChryslerCarInfo(CarInfo):
class ChryslerCarDocs(CarDocs):
package: str = "Adaptive Cruise Control (ACC)"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
@@ -32,67 +32,57 @@ class ChryslerCarSpecs(CarSpecs):
class CAR(Platforms):
# Chrysler
PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2017",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
)
PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2018",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
PACIFICA_2017_HYBRID.specs,
CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2019",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
PACIFICA_2017_HYBRID.specs,
CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2018 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2018",
ChryslerCarInfo("Chrysler Pacifica 2017-18"),
PACIFICA_2017_HYBRID.specs,
CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica 2017-18")],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2020 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2020",
CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
[
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
ChryslerCarDocs("Chrysler Pacifica 2019-20"),
ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
],
PACIFICA_2017_HYBRID.specs,
CHRYSLER_PACIFICA_2017_HYBRID.specs,
)
# Dodge
DODGE_DURANGO = ChryslerPlatformConfig(
"DODGE DURANGO 2021",
ChryslerCarInfo("Dodge Durango 2020-21"),
PACIFICA_2017_HYBRID.specs,
[ChryslerCarDocs("Dodge Durango 2020-21")],
CHRYSLER_PACIFICA_2017_HYBRID.specs,
)
# Jeep
JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk
"JEEP GRAND CHEROKEE V6 2018",
ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
[ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
)
JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk
"JEEP GRAND CHEROKEE 2019",
ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
[ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
JEEP_GRAND_CHEROKEE.specs,
)
# Ram
RAM_1500 = ChryslerPlatformConfig(
"RAM 1500 5TH GEN",
ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
RAM_1500_5TH_GEN = ChryslerPlatformConfig(
[ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
dbc_dict('chrysler_ram_dt_generated', None),
)
RAM_HD = ChryslerPlatformConfig(
"RAM HD 5TH GEN",
RAM_HD_5TH_GEN = ChryslerPlatformConfig(
[
ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
],
ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
dbc_dict('chrysler_ram_hd_generated', None),
@@ -119,8 +109,8 @@ class CarControllerParams:
STEER_THRESHOLD = 120
RAM_DT = {CAR.RAM_1500, }
RAM_HD = {CAR.RAM_HD, }
RAM_DT = {CAR.RAM_1500_5TH_GEN, }
RAM_HD = {CAR.RAM_HD_5TH_GEN, }
RAM_CARS = RAM_DT | RAM_HD
@@ -163,5 +153,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/docs.py
+22 -23
View File
@@ -9,8 +9,9 @@ from natsort import natsorted
from cereal import car
from openpilot.common.basedir import BASEDIR
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
from openpilot.selfdrive.car.values import PLATFORMS
def get_all_footnotes() -> dict[Enum, int]:
@@ -24,45 +25,43 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
def get_all_car_info() -> list[CarInfo]:
all_car_info: list[CarInfo] = []
def get_all_car_docs() -> list[CarDocs]:
all_car_docs: list[CarDocs] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
for model, platform in PLATFORMS.items():
car_docs = platform.config.car_docs
# If available, uses experimental longitudinal limits for the docs
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(),
CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
if CP.dashcamOnly or car_info is None:
if CP.dashcamOnly or not len(car_docs):
continue
# A platform can include multiple car models
if not isinstance(car_info, list):
car_info = (car_info,)
for _car_info in car_info:
if not hasattr(_car_info, "row"):
_car_info.init_make(CP)
_car_info.init(CP, footnotes)
all_car_info.append(_car_info)
for _car_docs in car_docs:
if not hasattr(_car_docs, "row"):
_car_docs.init_make(CP)
_car_docs.init(CP, footnotes)
all_car_docs.append(_car_docs)
# Sort cars by make and model + year
sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
return sorted_cars
def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]:
sorted_car_info = defaultdict(list)
for car_info in all_car_info:
sorted_car_info[car_info.make].append(car_info)
return dict(sorted_car_info)
def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
sorted_car_docs = defaultdict(list)
for car_docs in all_car_docs:
sorted_car_docs[car_docs.make].append(car_docs)
return dict(sorted_car_docs)
def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str:
def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
with open(template_fn) as f:
template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
footnotes = [fn.value.text for fn in get_all_footnotes()]
cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
group_by_make=group_by_make, footnotes=footnotes,
Column=Column)
return cars_md
@@ -77,5 +76,5 @@ if __name__ == "__main__":
args = parser.parse_args()
with open(args.out, 'w') as f:
f.write(generate_cars_md(get_all_car_info(), args.template))
f.write(generate_cars_md(get_all_car_docs(), args.template))
print(f"Generated and written to {args.out}")
selfdrive/car/docs_definitions.py
+5 -5
View File
@@ -220,7 +220,7 @@ def split_name(name: str) -> tuple[str, str, str]:
@dataclass
class CarInfo:
class CarDocs:
# make + model + model years
name: str
@@ -266,7 +266,7 @@ class CarInfo:
# min steer & enable speed columns
# TODO: set all the min steer speeds in carParams and remove this
if self.min_steer_speed is not None:
assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
else:
self.min_steer_speed = CP.minSteerSpeed
@@ -317,7 +317,7 @@ class CarInfo:
return self
def init_make(self, CP: car.CarParams):
"""CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
"""CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
def get_detail_sentence(self, CP):
if not CP.notCar:
@@ -340,13 +340,13 @@ class CarInfo:
# experimental mode
exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable:
sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
else:
if CP.carFingerprint == "COMMA BODY":
if CP.carFingerprint == "COMMA_BODY":
return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
else:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
selfdrive/car/fingerprints.py
+301
View File
@@ -1,4 +1,17 @@
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.body.values import CAR as BODY
from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
from openpilot.selfdrive.car.ford.values import CAR as FORD
from openpilot.selfdrive.car.gm.values import CAR as GM
from openpilot.selfdrive.car.honda.values import CAR as HONDA
from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
from openpilot.selfdrive.car.mock.values import CAR as MOCK
from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
from openpilot.selfdrive.car.tesla.values import CAR as TESLA
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.car.volkswagen.values import CAR as VW
FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
@@ -44,3 +57,291 @@ def all_known_cars():
def all_legacy_fingerprint_cars():
"""Returns a list of all known car strings, FPv1 only."""
return list(_FINGERPRINTS.keys())
# A dict that maps old platform strings to their latest representations
MIGRATION = {
"ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
"ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
"ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
"AUDI A3": VW.AUDI_A3_MK3,
"HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
"HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
"HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
"HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
"HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
"HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
"HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
"HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
"HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
"HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
"HONDA FIT 2018 EX": HONDA.HONDA_FIT,
"HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
"HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
"HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
"HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
"HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
"HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
"HONDA PILOT 2019": HONDA.HONDA_PILOT,
"HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
"HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
"HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
"HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
"HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
"KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
"KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
"KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
"LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
"LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
"LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
"LEXUS IS300 2018": TOYOTA.LEXUS_IS,
"LEXUS NX300 2018": TOYOTA.LEXUS_NX,
"LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
"LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
"LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
"LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
"TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
"TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
"TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
"TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
"LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
"LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
"LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
"LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
"TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
"TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
"TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
"TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
"TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
"TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
"TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
"TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
"TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
"TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
"LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
"LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
"HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
"KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
"KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
"CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
# Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
"COMMA BODY": BODY.COMMA_BODY,
"CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
"CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
"CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
"CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
"CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
"DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
"JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
"JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
"RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
"RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
"FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
"FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
"FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
"FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
"FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
"FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
"FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
"FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
"HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
"CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
"CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
"CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
"GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
"BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
"BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
"CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
"CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
"CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
"CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
"CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
"CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
"CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
"HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
"HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
"HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
"HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
"HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
"HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
"HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
"ACURA RDX 2020": HONDA.ACURA_RDX_3G,
"HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
"HONDA E 2020": HONDA.HONDA_E,
"ACURA ILX 2016": HONDA.ACURA_ILX,
"HONDA CR-V 2016": HONDA.HONDA_CRV,
"HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
"HONDA FIT 2018": HONDA.HONDA_FIT,
"HONDA FREED 2020": HONDA.HONDA_FREED,
"HONDA HRV 2019": HONDA.HONDA_HRV,
"HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
"HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
"ACURA RDX 2018": HONDA.ACURA_RDX,
"HONDA PILOT 2017": HONDA.HONDA_PILOT,
"HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
"HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
"HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
"HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
"HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
"HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
"HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
"HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
"HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
"HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
"HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
"HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
"HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
"HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
"HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
"HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
"HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
"HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
"HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
"HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
"HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
"HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
"HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
"HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
"HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
"HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
"HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
"HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
"HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
"HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
"HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
"HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
"HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
"HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
"KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
"KIA K5 2021": HYUNDAI.KIA_K5_2021,
"KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
"KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
"KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
"KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
"KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
"KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
"KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
"KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
"KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
"KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
"KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
"KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
"KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
"KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
"KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
"KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
"KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
"KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
"KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
"KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
"KIA EV6 2022": HYUNDAI.KIA_EV6,
"KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
"GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
"GENESIS G70 2018": HYUNDAI.GENESIS_G70,
"GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
"GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
"GENESIS G80 2017": HYUNDAI.GENESIS_G80,
"GENESIS G90 2017": HYUNDAI.GENESIS_G90,
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
"MAZDA CX-5": MAZDA.MAZDA_CX5,
"MAZDA CX-9": MAZDA.MAZDA_CX9,
"MAZDA 3": MAZDA.MAZDA_3,
"MAZDA 6": MAZDA.MAZDA_6,
"MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
"MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
"NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
"NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
"NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
"NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
"NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
"SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
"SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
"SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
"SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
"SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
"SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
"SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
"SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
"SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
"SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
"SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
"SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
"SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
"SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
"SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
"TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
"TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
"TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
"TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
"TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
"TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
"TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
"TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
"TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
"TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
"TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
"TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
"TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
"TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
"TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
"TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
"TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
"TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
"TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
"TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
"TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
"TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
"LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
"LEXUS ES 2018": TOYOTA.LEXUS_ES,
"LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
"LEXUS IS 2018": TOYOTA.LEXUS_IS,
"LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
"LEXUS NX 2018": TOYOTA.LEXUS_NX,
"LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
"LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
"LEXUS RC 2020": TOYOTA.LEXUS_RC,
"LEXUS RX 2016": TOYOTA.LEXUS_RX,
"LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
"LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
"VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
"VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
"VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
"VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
"VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
"VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
"VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
"VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
"VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
"VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
"VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
"VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
"VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
"VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
"VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
"VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
"AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
"AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
"AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
"SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
"SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
"SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
"SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
"SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
"SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
"SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
"SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
"SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
"SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
"SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
"mock": MOCK.MOCK,
}
selfdrive/car/ford/carcontroller.py
+8 -3
View File
@@ -35,6 +35,7 @@ class CarController(CarControllerBase):
self.main_on_last = False
self.lkas_enabled_last = False
self.steer_alert_last = False
self.lead_distance_bars_last = None
def update(self, CC, CS, now_nanos):
can_sends = []
@@ -73,7 +74,7 @@ class CarController(CarControllerBase):
if self.CP.flags & FordFlags.CANFD:
# TODO: extended mode
mode = 1 if CC.latActive else 0
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
else:
can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
@@ -98,15 +99,19 @@ class CarController(CarControllerBase):
# send lkas ui msg at 1Hz or if ui state changes
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
# send acc ui msg at 5Hz or if ui state changes
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
send_ui = True
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
fcw_alert, CS.out.cruiseState.standstill, hud_control,
CS.acc_tja_status_stock_values))
fcw_alert, CS.out.cruiseState.standstill, hud_control,
CS.acc_tja_status_stock_values))
self.main_on_last = main_on
self.lkas_enabled_last = CC.latActive
self.steer_alert_last = steer_alert
self.lead_distance_bars_last = hud_control.leadDistanceBars
new_actuators = actuators.copy()
new_actuators.curvature = self.apply_curvature_last
selfdrive/car/ford/carstate.py
+11 -1
View File
@@ -19,6 +19,9 @@ class CarState(CarStateBase):
self.vehicle_sensors_valid = False
self.prev_distance_button = 0
self.distance_button = 0
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
@@ -54,7 +57,8 @@ class CarState(CarStateBase):
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
is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
@@ -83,6 +87,8 @@ class CarState(CarStateBase):
ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
# TODO: block this going to the camera otherwise it will enable stock TJA
ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
# lock info
ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
@@ -126,6 +132,10 @@ class CarState(CarStateBase):
messages += [
("Lane_Assist_Data3_FD1", 33),
]
else:
messages += [
("INSTRUMENT_PANEL", 1),
]
if CP.transmissionType == TransmissionType.automatic:
messages += [
selfdrive/car/ford/fingerprints.py
+29 -8
View File
@@ -4,23 +4,26 @@ from openpilot.selfdrive.car.ford.values import CAR
Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.BRONCO_SPORT_MK1: {
CAR.FORD_BRONCO_SPORT_MK1: {
(Ecu.eps, 0x730, None): [
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.ESCAPE_MK4: {
CAR.FORD_ESCAPE_MK4: {
(Ecu.eps, 0x730, None): [
b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -43,7 +46,7 @@ FW_VERSIONS = {
b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.EXPLORER_MK6: {
CAR.FORD_EXPLORER_MK6: {
(Ecu.eps, 0x730, None): [
b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -71,7 +74,7 @@ FW_VERSIONS = {
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.F_150_MK14: {
CAR.FORD_F_150_MK14: {
(Ecu.eps, 0x730, None): [
b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
@@ -82,10 +85,11 @@ FW_VERSIONS = {
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.F_150_LIGHTNING_MK1: {
CAR.FORD_F_150_LIGHTNING_MK1: {
(Ecu.abs, 0x760, None): [
b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
@@ -96,7 +100,7 @@ FW_VERSIONS = {
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.MUSTANG_MACH_E_MK1: {
CAR.FORD_MUSTANG_MACH_E_MK1: {
(Ecu.eps, 0x730, None): [
b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -111,7 +115,7 @@ FW_VERSIONS = {
b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FOCUS_MK4: {
CAR.FORD_FOCUS_MK4: {
(Ecu.eps, 0x730, None): [
b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
@@ -125,14 +129,17 @@ FW_VERSIONS = {
b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.MAVERICK_MK1: {
CAR.FORD_MAVERICK_MK1: {
(Ecu.eps, 0x730, None): [
b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -141,4 +148,18 @@ FW_VERSIONS = {
b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_RANGER_MK2: {
(Ecu.eps, 0x730, None): [
b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'PB3C-2D053-ZD\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',
],
},
}
selfdrive/car/ford/fordcan.py
+1 -1
View File
@@ -212,7 +212,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
"AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator
"AccStopMde_B_Dsply": 1 if standstill else 0,
"AccWarn_D_Dsply": 0, # ACC warning
"AccTGap_D_Dsply": 4, # Fixed time gap in UI
"AccTGap_D_Dsply": hud_control.leadDistanceBars, # Time gap
})
# Forwards FCW alert from IPMA
selfdrive/car/ford/interface.py
+4 -4
View File
@@ -1,11 +1,12 @@
from cereal import car
from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
TransmissionType = car.CarParams.TransmissionType
GearShifter = car.CarState.GearShifter
@@ -61,6 +62,8 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
if not self.CS.vehicle_sensors_valid:
events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
@@ -68,6 +71,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/ford/values.py
+39 -46
View File
@@ -1,10 +1,11 @@
from dataclasses import dataclass, field
import copy
from dataclasses import dataclass, field, replace
from enum import Enum, IntFlag
import panda.python.uds as uds
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
Device
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@@ -58,12 +59,14 @@ class Footnote(Enum):
@dataclass
class FordCarInfo(CarInfo):
class FordCarDocs(CarDocs):
package: str = "Co-Pilot360 Assist+"
hybrid: bool = False
plug_in_hybrid: bool = False
def init_make(self, CP: car.CarParams):
harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1):
if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
self.car_parts = CarParts([Device.threex_angled_mount, harness])
else:
self.car_parts = CarParts([Device.threex, harness])
@@ -73,6 +76,15 @@ class FordCarInfo(CarInfo):
class FordPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
def init(self):
for car_docs in list(self.car_docs):
if car_docs.hybrid:
name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
if car_docs.plug_in_hybrid:
name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
@dataclass
class FordCANFDPlatformConfig(FordPlatformConfig):
@@ -84,69 +96,51 @@ class FordCANFDPlatformConfig(FordPlatformConfig):
class CAR(Platforms):
BRONCO_SPORT_MK1 = FordPlatformConfig(
"FORD BRONCO SPORT 1ST GEN",
FordCarInfo("Ford Bronco Sport 2021-22"),
FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
[FordCarDocs("Ford Bronco Sport 2021-23")],
CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
)
ESCAPE_MK4 = FordPlatformConfig(
"FORD ESCAPE 4TH GEN",
FORD_ESCAPE_MK4 = FordPlatformConfig(
[
FordCarInfo("Ford Escape 2020-22"),
FordCarInfo("Ford Escape Hybrid 2020-22"),
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
],
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
)
EXPLORER_MK6 = FordPlatformConfig(
"FORD EXPLORER 6TH GEN",
FORD_EXPLORER_MK6 = FordPlatformConfig(
[
FordCarInfo("Ford Explorer 2020-23"),
FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only
FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
FordCarDocs("Ford Explorer 2020-23", hybrid=True), # Hybrid: Limited and Platinum only
FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only
],
CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
)
F_150_MK14 = FordCANFDPlatformConfig(
"FORD F-150 14TH GEN",
[
FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
],
FORD_F_150_MK14 = FordCANFDPlatformConfig(
[FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)],
CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
)
F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
"FORD F-150 LIGHTNING 1ST GEN",
FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
[FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
)
FOCUS_MK4 = FordPlatformConfig(
"FORD FOCUS 4TH GEN",
[
FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
],
FORD_FOCUS_MK4 = FordPlatformConfig(
[FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only
CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
)
MAVERICK_MK1 = FordPlatformConfig(
"FORD MAVERICK 1ST GEN",
FORD_MAVERICK_MK1 = FordPlatformConfig(
[
FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
],
CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
)
MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
"FORD MUSTANG MACH-E 1ST GEN",
FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
[FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
)
FORD_RANGER_MK2 = FordCANFDPlatformConfig(
[FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering")],
CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
)
DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
@@ -209,5 +203,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/fw_query_definitions.py
+7 -2
View File
@@ -47,6 +47,11 @@ class StdQueries:
MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -92,9 +97,9 @@ class FwQueryConfig:
non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict)
# Ecus added for data collection, not to be fingerprinted on
extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list)
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
# returns set of candidates. Only will match if one candidate is returned
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, OfflineFwVersions], set[str]] | None = None
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
def __post_init__(self):
for i in range(len(self.requests)):
selfdrive/car/fw_versions.py
+38 -30
View File
@@ -1,19 +1,20 @@
#!/usr/bin/env python3
from collections import defaultdict
from typing import Any, TypeVar
from collections.abc import Iterator
from typing import Any, Protocol, TypeVar
from tqdm import tqdm
import capnp
import panda.python.uds as uds
from cereal import car
from openpilot.common.params import Params
from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
Ecu = car.CarParams.Ecu
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
@@ -38,8 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
return filter_brand is None or brand == filter_brand
def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
filter_brand: str = None) -> dict[AddrType, set[bytes]]:
def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
for fw in fw_versions:
if is_brand(fw.brand, filter_brand) and not fw.logging:
@@ -48,7 +48,12 @@ def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
return dict(fw_versions_dict)
def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None):
class MatchFwToCar(Protocol):
def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]:
...
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]:
"""Do a fuzzy FW match. This function will return a match, and the number of firmware version
that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
the match is rejected."""
@@ -73,7 +78,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
all_fw_versions[(addr[1], addr[2], f)].append(candidate)
matched_ecus = set()
candidate = None
match: str | None = None
for addr, versions in live_fw_versions.items():
ecu_key = (addr[0], addr[1])
for version in versions:
@@ -82,23 +87,23 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
if len(candidates) == 1:
matched_ecus.add(ecu_key)
if candidate is None:
candidate = candidates[0]
if match is None:
match = candidates[0]
# We uniquely matched two different cars. No fuzzy match possible
elif candidate != candidates[0]:
elif match != candidates[0]:
return set()
# Note that it is possible to match to a candidate without all its ECUs being present
# if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
if len(matched_ecus) >= 2:
if match and len(matched_ecus) >= 2:
if log:
cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
return {candidate}
cloudlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
return {match}
else:
return set()
def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> set[str]:
def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> set[str]:
"""Do an exact FW match. Returns all cars that match the given
FW versions for a list of "essential" ECUs. If an ECU is not considered
essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -139,9 +144,10 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw
return set(candidates.keys()) - invalid
def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vin: str,
allow_exact: bool = True, allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
# Try exact matching first
exact_matches = []
exact_matches: list[tuple[bool, MatchFwToCar]] = []
if allow_exact:
exact_matches = [(True, match_fw_to_car_exact)]
if allow_fuzzy:
@@ -149,7 +155,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
for exact_match, match_func in exact_matches:
# For each brand, attempt to fingerprint using all FW returned from its queries
matches = set()
matches: set[str] = set()
for brand in VERSIONS.keys():
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
@@ -157,7 +163,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
# If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
config = FW_QUERY_CONFIGS[brand]
if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand])
matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, vin, VERSIONS[brand])
if len(matches):
return exact_match, matches
@@ -165,12 +171,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
return True, set()
def get_present_ecus(logcan, sendcan, num_pandas=1) -> set[EcuAddrBusType]:
def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType]:
params = Params()
# queries are split by OBD multiplexing mode
queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
responses = set()
responses: set[EcuAddrBusType] = set()
for brand, config, r in REQUESTS:
# Skip query if no panda available
@@ -231,8 +237,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
cloudlog.warning("OBD multiplexing set successfully")
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
list[capnp.lib.capnp._DynamicStructBuilder]:
def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
all_car_fw = []
@@ -247,15 +253,15 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
all_car_fw.extend(car_fw)
# If there is a match using this brand's FW alone, finish querying early
_, matches = match_fw_to_car(car_fw, log=False)
_, matches = match_fw_to_car(car_fw, vin, log=False)
if len(matches) == 1:
break
return all_car_fw
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
list[capnp.lib.capnp._DynamicStructBuilder]:
def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1,
debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
versions = VERSIONS.copy()
params = Params()
@@ -367,6 +373,7 @@ if __name__ == "__main__":
t = time.time()
print("Getting vin...")
set_obd_multiplexing(params, True)
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s")
@@ -374,7 +381,7 @@ if __name__ == "__main__":
t = time.time()
fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
_, candidates = match_fw_to_car(fw_vers)
_, candidates = match_fw_to_car(fw_vers, vin)
print()
print("Found FW versions")
@@ -382,7 +389,8 @@ if __name__ == "__main__":
padding = max([len(fw.brand) for fw in fw_vers] or [0])
for version in fw_vers:
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
print(f" Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
print("}")
print()
selfdrive/car/gm/carcontroller.py
+1 -1
View File
@@ -118,7 +118,7 @@ class CarController(CarControllerBase):
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
selfdrive/car/gm/carstate.py
+5
View File
@@ -26,11 +26,16 @@ class CarState(CarStateBase):
self.cam_lka_steering_cmd_counter = 0
self.buttons_counter = 0
self.prev_distance_button = 0
self.distance_button = 0
def update(self, pt_cp, cam_cp, loopback_cp):
ret = car.CarState.new_message()
self.prev_cruise_buttons = self.cruise_buttons
self.prev_distance_button = self.distance_button
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
selfdrive/car/gm/fingerprints.py
+9 -9
View File
@@ -9,7 +9,7 @@ FINGERPRINTS = {
CAR.HOLDEN_ASTRA: [{
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
}],
CAR.VOLT: [{
CAR.CHEVROLET_VOLT: [{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
},
{
@@ -27,31 +27,31 @@ FINGERPRINTS = {
CAR.CADILLAC_ATS: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.MALIBU: [{
CAR.CHEVROLET_MALIBU: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.ACADIA: [{
CAR.GMC_ACADIA: [{
190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
},
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.ESCALADE: [{
CAR.CADILLAC_ESCALADE: [{
170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 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, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
}],
CAR.ESCALADE_ESV: [{
CAR.CADILLAC_ESCALADE_ESV: [{
309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
}],
CAR.ESCALADE_ESV_2019: [{
CAR.CADILLAC_ESCALADE_ESV_2019: [{
715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
}],
CAR.BOLT_EUV: [{
CAR.CHEVROLET_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, 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: [{
CAR.CHEVROLET_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, 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: [{
CAR.CHEVROLET_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, 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
},
{
selfdrive/car/gm/gmcan.py
+4 -4
View File
@@ -76,7 +76,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
mode = 0x1
# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
mode = 0x9
if apply_brake > 0:
@@ -102,17 +102,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
target_speed = min(target_speed_kph, 255)
values = {
"ACCAlwaysOne": 1,
"ACCResumeButton": 0,
"ACCSpeedSetpoint": target_speed,
"ACCGapLevel": 3 * enabled, # 3 "far", 0 "inactive"
"ACCGapLevel": hud_control.leadDistanceBars * enabled, # 3 "far", 0 "inactive"
"ACCCmdActive": enabled,
"ACCAlwaysOne2": 1,
"ACCLeadCar": lead_car_in_sight,
"ACCLeadCar": hud_control.leadVisible,
"FCWAlert": 0x3 if fcw else 0
}
selfdrive/car/gm/interface.py
+21 -27
View File
@@ -22,9 +22,9 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
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],
CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
}
NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase):
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
def get_steer_feedforward_function(self):
if self.CP.carFingerprint == CAR.VOLT:
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
return self.get_steer_feedforward_volt
else:
return CarInterfaceBase.get_steer_feedforward_default
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
return float(self.neural_ff_model.predict(inputs)) + friction
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint == CAR.BOLT_EUV:
if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
return self.torque_from_lateral_accel_neural
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
@@ -137,7 +137,7 @@ 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.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
@@ -145,15 +145,12 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
if candidate == CAR.VOLT:
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
if candidate == CAR.CHEVROLET_VOLT:
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
@@ -161,7 +158,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.ACADIA:
elif candidate == CAR.GMC_ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -169,15 +166,14 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.BUICK_LACROSSE:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.ESCALADE:
elif candidate == CAR.CADILLAC_ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.tireStiffnessFactor = 1.0
if candidate == CAR.ESCALADE_ESV:
if candidate == CAR.CADILLAC_ESCALADE_ESV:
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
@@ -185,13 +181,11 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BOLT_EUV:
ret.tireStiffnessFactor = 1.0
elif candidate == CAR.CHEVROLET_BOLT_EUV:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO:
ret.tireStiffnessFactor = 1.0
elif candidate == CAR.CHEVROLET_SILVERADO:
# 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
@@ -199,11 +193,10 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX:
elif candidate == CAR.CHEVROLET_EQUINOX:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAILBLAZER:
ret.tireStiffnessFactor = 1.0
elif candidate == CAR.CHEVROLET_TRAILBLAZER:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -215,8 +208,12 @@ class CarInterface(CarInterfaceBase):
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS)
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
{1: ButtonType.gapAdjustCruise})
]
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
@@ -240,6 +237,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/gm/tests/test_gm.py
+3 -5
View File
@@ -3,7 +3,7 @@ from parameterized import parameterized
import unittest
from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, GM_RX_OFFSET
from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
@@ -13,12 +13,10 @@ class TestGMFingerprint(unittest.TestCase):
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))
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}:
if car_model in CAMERA_ACC_CAR:
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)
selfdrive/car/gm/values.py
+60 -72
View File
@@ -1,9 +1,8 @@
from dataclasses import dataclass, field
from enum import Enum
from cereal import car
from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
@@ -60,15 +59,8 @@ class CarControllerParams:
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
class Footnote(Enum):
OBD_II = CarFootnote(
'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>',
Column.MODEL)
@dataclass
class GMCarInfo(CarInfo):
class GMCarDocs(CarDocs):
package: str = "Adaptive Cruise Control (ACC)"
def init_make(self, CP: car.CarParams):
@@ -76,7 +68,11 @@ class GMCarInfo(CarInfo):
self.car_parts = CarParts.common([CarHarness.gm])
else:
self.car_parts = CarParts.common([CarHarness.obd_ii])
self.footnotes.append(Footnote.OBD_II)
@dataclass(frozen=True, kw_only=True)
class GMCarSpecs(CarSpecs):
tireStiffnessFactor: float = 0.444 # not optimized yet
@dataclass
@@ -84,82 +80,75 @@ class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
@dataclass
class GMASCMPlatformConfig(GMPlatformConfig):
def init(self):
# ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
self.car_docs = []
class CAR(Platforms):
HOLDEN_ASTRA = GMPlatformConfig(
"HOLDEN ASTRA RS-V BK 2017",
GMCarInfo("Holden Astra 2017"),
CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
HOLDEN_ASTRA = GMASCMPlatformConfig(
[GMCarDocs("Holden Astra 2017")],
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
)
VOLT = GMPlatformConfig(
"CHEVROLET VOLT PREMIER 2017",
GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45),
CHEVROLET_VOLT = GMASCMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
)
CADILLAC_ATS = GMPlatformConfig(
"CADILLAC ATS Premium Performance 2018",
GMCarInfo("Cadillac ATS Premium Performance 2018"),
CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
CADILLAC_ATS = GMASCMPlatformConfig(
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
)
MALIBU = GMPlatformConfig(
"CHEVROLET MALIBU PREMIER 2017",
GMCarInfo("Chevrolet Malibu Premier 2017"),
CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
CHEVROLET_MALIBU = GMASCMPlatformConfig(
[GMCarDocs("Chevrolet Malibu Premier 2017")],
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
)
ACADIA = GMPlatformConfig(
"GMC ACADIA DENALI 2018",
GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
GMC_ACADIA = GMASCMPlatformConfig(
[GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
)
BUICK_LACROSSE = GMPlatformConfig(
"BUICK LACROSSE 2017",
GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
BUICK_LACROSSE = GMASCMPlatformConfig(
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
)
BUICK_REGAL = GMPlatformConfig(
"BUICK REGAL ESSENCE 2018",
GMCarInfo("Buick Regal Essence 2018"),
CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
BUICK_REGAL = GMASCMPlatformConfig(
[GMCarDocs("Buick Regal Essence 2018")],
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
)
ESCALADE = GMPlatformConfig(
"CADILLAC ESCALADE 2017",
GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
CADILLAC_ESCALADE = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
)
ESCALADE_ESV = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2016",
GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3),
CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
)
ESCALADE_ESV_2019 = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2019",
GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
ESCALADE_ESV.specs,
CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
CADILLAC_ESCALADE_ESV.specs,
)
BOLT_EUV = GMPlatformConfig(
"CHEVROLET BOLT EUV 2022",
CHEVROLET_BOLT_EUV = GMPlatformConfig(
[
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4),
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
SILVERADO = GMPlatformConfig(
"CHEVROLET SILVERADO 1500 2020",
CHEVROLET_SILVERADO = GMPlatformConfig(
[
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3),
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
)
EQUINOX = GMPlatformConfig(
"CHEVROLET EQUINOX 2019",
GMCarInfo("Chevrolet Equinox 2019-22"),
CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
CHEVROLET_EQUINOX = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22")],
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
)
TRAILBLAZER = GMPlatformConfig(
"CHEVROLET TRAILBLAZER 2021",
GMCarInfo("Chevrolet Trailblazer 2021-22"),
CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4),
CHEVROLET_TRAILBLAZER = GMPlatformConfig(
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
@@ -235,12 +224,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
)
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
STEER_THRESHOLD = 1.0
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/honda/carcontroller.py
+4 -20
View File
@@ -4,7 +4,6 @@ from cereal import car
from openpilot.common.numpy_fast import clip, interp
from openpilot.common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import create_gas_interceptor_command
from openpilot.selfdrive.car.honda import hondacan
from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -96,7 +95,7 @@ def process_hud_alert(hud_alert):
HUDData = namedtuple("HUDData",
["pcm_accel", "v_cruise", "lead_visible",
"lanes_visible", "fcw", "acc_alert", "steer_required"])
"lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])
def rate_limit_steer(new_steer, last_steer):
@@ -183,7 +182,7 @@ class CarController(CarControllerBase):
0.5]
# The Honda ODYSSEY seems to have different PCM_ACCEL
# msgs, is it other cars too?
if self.CP.enableGasInterceptor or not CC.longActive:
if not CC.longActive:
pcm_speed = 0.0
pcm_accel = int(0.0)
elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
@@ -235,30 +234,15 @@ class CarController(CarControllerBase):
self.apply_brake_last = apply_brake
self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
if self.CP.enableGasInterceptor:
# way too aggressive at low speed without this
gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# This prevents unexpected pedal range rescaling
# Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
# when you do enable.
if CC.longActive:
self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
else:
self.gas = 0.0
can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
# Send dashboard UI commands.
if self.frame % 10 == 0:
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
self.speed = pcm_speed
if not self.CP.enableGasInterceptor:
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
new_actuators = actuators.copy()
new_actuators.speed = self.speed
selfdrive/car/honda/carstate.py
+23 -27
View File
@@ -28,7 +28,7 @@ def get_can_messages(CP, gearbox_msg):
("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
]
if CP.carFingerprint == CAR.ODYSSEY_CHN:
if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
messages += [
("SCM_FEEDBACK", 25),
("SCM_BUTTONS", 50),
@@ -39,7 +39,7 @@ def get_can_messages(CP, gearbox_msg):
("SCM_BUTTONS", 25),
]
if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
messages.append((gearbox_msg, 50))
else:
messages.append((gearbox_msg, 100))
@@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
messages.append(("BRAKE_MODULE", 50))
if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
messages.append(("EPB_STATUS", 50))
if CP.carFingerprint in HONDA_BOSCH:
@@ -58,24 +58,20 @@ def get_can_messages(CP, gearbox_msg):
("ACC_CONTROL", 50),
]
else: # Nidec signals
if CP.carFingerprint == CAR.ODYSSEY_CHN:
if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
messages.append(("CRUISE_PARAMS", 10))
else:
messages.append(("CRUISE_PARAMS", 50))
# TODO: clean this up
if CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
pass
elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
pass
else:
messages.append(("DOORS_STATUS", 3))
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
messages.append(("GAS_SENSOR", 50))
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
messages.append(("CRUISE_FAULT_STATUS", 50))
elif CP.openpilotLongitudinalControl:
@@ -89,7 +85,7 @@ class CarState(CarStateBase):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.gearbox_msg = "GEARBOX"
if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
self.gearbox_msg = "GEARBOX_15T"
self.main_on_sig_msg = "SCM_FEEDBACK"
@@ -129,10 +125,10 @@ class CarState(CarStateBase):
# panda checks if the signal is non-zero
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# TODO: find a common signal across all cars
if self.CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
else:
ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
@@ -185,25 +181,24 @@ class CarState(CarStateBase):
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
# TODO: set for all cars
if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
if self.CP.enableGasInterceptor:
# Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
ret.gasPressed = ret.gas > 492
else:
ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
ret.gasPressed = ret.gas > 1e-5
ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
ret.gasPressed = ret.gas > 1e-5
ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
if self.CP.carFingerprint in HONDA_BOSCH:
# The PCM always manages its own cruise control state, but doesn't publish it
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
if not self.CP.openpilotLongitudinalControl:
# ACC_HUD is on camera bus on radarless cars
acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
@@ -237,7 +232,7 @@ class CarState(CarStateBase):
ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE):
if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
if ret.brake > 0.1:
ret.brakePressed = True
@@ -276,9 +271,10 @@ class CarState(CarStateBase):
]
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
messages.append(("LKAS_HUD", 10))
if not CP.openpilotLongitudinalControl:
messages.append(("ACC_HUD", 10))
messages += [
("ACC_HUD", 10),
("LKAS_HUD", 10),
]
elif CP.carFingerprint not in HONDA_BOSCH:
messages += [
selfdrive/car/honda/fingerprints.py
+36 -308
View File
@@ -10,7 +10,7 @@ Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.ACCORD: {
CAR.HONDA_ACCORD: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-6A0-8720\x00\x00',
b'37805-6A0-9520\x00\x00',
@@ -39,9 +39,11 @@ FW_VERSIONS = {
b'37805-6B2-A810\x00\x00',
b'37805-6B2-A820\x00\x00',
b'37805-6B2-A920\x00\x00',
b'37805-6B2-A960\x00\x00',
b'37805-6B2-AA10\x00\x00',
b'37805-6B2-C520\x00\x00',
b'37805-6B2-C540\x00\x00',
b'37805-6B2-C560\x00\x00',
b'37805-6B2-M520\x00\x00',
b'37805-6B2-Y810\x00\x00',
b'37805-6M4-B730\x00\x00',
@@ -120,52 +122,6 @@ FW_VERSIONS = {
b'77959-TWA-L420\x00\x00',
b'77959-TWB-H220\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TBX-H310\x00\x00',
b'78109-TVA-A010\x00\x00',
b'78109-TVA-A020\x00\x00',
b'78109-TVA-A030\x00\x00',
b'78109-TVA-A110\x00\x00',
b'78109-TVA-A120\x00\x00',
b'78109-TVA-A130\x00\x00',
b'78109-TVA-A210\x00\x00',
b'78109-TVA-A220\x00\x00',
b'78109-TVA-A230\x00\x00',
b'78109-TVA-A310\x00\x00',
b'78109-TVA-C010\x00\x00',
b'78109-TVA-C130\x00\x00',
b'78109-TVA-L010\x00\x00',
b'78109-TVA-L210\x00\x00',
b'78109-TVA-R310\x00\x00',
b'78109-TVC-A010\x00\x00',
b'78109-TVC-A020\x00\x00',
b'78109-TVC-A030\x00\x00',
b'78109-TVC-A110\x00\x00',
b'78109-TVC-A130\x00\x00',
b'78109-TVC-A210\x00\x00',
b'78109-TVC-A220\x00\x00',
b'78109-TVC-A230\x00\x00',
b'78109-TVC-C010\x00\x00',
b'78109-TVC-C110\x00\x00',
b'78109-TVC-L010\x00\x00',
b'78109-TVC-L210\x00\x00',
b'78109-TVC-M510\x00\x00',
b'78109-TVC-YF10\x00\x00',
b'78109-TVE-H610\x00\x00',
b'78109-TWA-A010\x00\x00',
b'78109-TWA-A020\x00\x00',
b'78109-TWA-A030\x00\x00',
b'78109-TWA-A110\x00\x00',
b'78109-TWA-A120\x00\x00',
b'78109-TWA-A130\x00\x00',
b'78109-TWA-A210\x00\x00',
b'78109-TWA-A220\x00\x00',
b'78109-TWA-A230\x00\x00',
b'78109-TWA-A610\x00\x00',
b'78109-TWA-H210\x00\x00',
b'78109-TWA-L010\x00\x00',
b'78109-TWA-L210\x00\x00',
],
(Ecu.hud, 0x18da61f1, None): [
b'78209-TVA-A010\x00\x00',
b'78209-TVA-A110\x00\x00',
@@ -204,7 +160,7 @@ FW_VERSIONS = {
b'38897-TWD-J020\x00\x00',
],
},
CAR.CIVIC: {
CAR.HONDA_CIVIC: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A640\x00\x00',
b'37805-5AA-A650\x00\x00',
@@ -270,25 +226,6 @@ FW_VERSIONS = {
b'77959-TBG-A030\x00\x00',
b'77959-TEA-Q820\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TBA-A510\x00\x00',
b'78109-TBA-A520\x00\x00',
b'78109-TBA-A530\x00\x00',
b'78109-TBA-C310\x00\x00',
b'78109-TBA-C520\x00\x00',
b'78109-TBC-A310\x00\x00',
b'78109-TBC-A320\x00\x00',
b'78109-TBC-A510\x00\x00',
b'78109-TBC-A520\x00\x00',
b'78109-TBC-A530\x00\x00',
b'78109-TBC-C510\x00\x00',
b'78109-TBC-C520\x00\x00',
b'78109-TBC-C530\x00\x00',
b'78109-TBH-A510\x00\x00',
b'78109-TBH-A530\x00\x00',
b'78109-TED-Q510\x00\x00',
b'78109-TEG-A310\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TBA-A020\x00\x00',
b'36161-TBA-A030\x00\x00',
@@ -304,7 +241,7 @@ FW_VERSIONS = {
b'38897-TBA-A020\x00\x00',
],
},
CAR.CIVIC_BOSCH: {
CAR.HONDA_CIVIC_BOSCH: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A940\x00\x00',
b'37805-5AA-A950\x00\x00',
@@ -419,40 +356,6 @@ FW_VERSIONS = {
b'77959-TGG-J320\x00\x00',
b'77959-TGG-Z820\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TBA-A110\x00\x00',
b'78109-TBA-A910\x00\x00',
b'78109-TBA-C340\x00\x00',
b'78109-TBA-C910\x00\x00',
b'78109-TBC-A740\x00\x00',
b'78109-TBC-C540\x00\x00',
b'78109-TBG-A110\x00\x00',
b'78109-TBH-A710\x00\x00',
b'78109-TEG-A720\x00\x00',
b'78109-TFJ-G020\x00\x00',
b'78109-TGG-9020\x00\x00',
b'78109-TGG-A210\x00\x00',
b'78109-TGG-A220\x00\x00',
b'78109-TGG-A310\x00\x00',
b'78109-TGG-A320\x00\x00',
b'78109-TGG-A330\x00\x00',
b'78109-TGG-A610\x00\x00',
b'78109-TGG-A620\x00\x00',
b'78109-TGG-A810\x00\x00',
b'78109-TGG-A820\x00\x00',
b'78109-TGG-C010\x00\x00',
b'78109-TGG-C220\x00\x00',
b'78109-TGG-E110\x00\x00',
b'78109-TGG-G030\x00\x00',
b'78109-TGG-G230\x00\x00',
b'78109-TGG-G410\x00\x00',
b'78109-TGK-Z410\x00\x00',
b'78109-TGL-G120\x00\x00',
b'78109-TGL-G130\x00\x00',
b'78109-TGL-G210\x00\x00',
b'78109-TGL-G230\x00\x00',
b'78109-TGL-GM10\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TBA-A150\x00\x00',
b'36802-TBA-A160\x00\x00',
@@ -489,7 +392,7 @@ FW_VERSIONS = {
b'39494-TGL-G030\x00\x00',
],
},
CAR.CIVIC_BOSCH_DIESEL: {
CAR.HONDA_CIVIC_BOSCH_DIESEL: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-59N-G630\x00\x00',
b'37805-59N-G830\x00\x00',
@@ -508,10 +411,6 @@ FW_VERSIONS = {
b'77959-TFK-G210\x00\x00',
b'77959-TGN-G220\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TFK-G020\x00\x00',
b'78109-TGN-G120\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TFK-G130\x00\x00',
b'36802-TGN-G130\x00\x00',
@@ -527,7 +426,7 @@ FW_VERSIONS = {
b'38897-TBA-A020\x00\x00',
],
},
CAR.CRV: {
CAR.HONDA_CRV: {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-T1W-A230\x00\x00',
b'57114-T1W-A240\x00\x00',
@@ -536,18 +435,13 @@ FW_VERSIONS = {
(Ecu.srs, 0x18da53f1, None): [
b'77959-T0A-A230\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-T1W-A210\x00\x00',
b'78109-T1W-C210\x00\x00',
b'78109-T1X-A210\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T1W-A830\x00\x00',
b'36161-T1W-C830\x00\x00',
b'36161-T1X-A830\x00\x00',
],
},
CAR.CRV_5G: {
CAR.HONDA_CRV_5G: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5PA-3060\x00\x00',
b'37805-5PA-3080\x00\x00',
@@ -575,6 +469,7 @@ FW_VERSIONS = {
b'37805-5PA-AB10\x00\x00',
b'37805-5PA-AD10\x00\x00',
b'37805-5PA-AF20\x00\x00',
b'37805-5PA-AF30\x00\x00',
b'37805-5PA-AH20\x00\x00',
b'37805-5PA-BF10\x00\x00',
b'37805-5PA-C680\x00\x00',
@@ -620,25 +515,6 @@ FW_VERSIONS = {
b'46114-TLA-A930\x00\x00',
b'46114-TMC-U020\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TLA-A020\x00\x00',
b'78109-TLA-A110\x00\x00',
b'78109-TLA-A120\x00\x00',
b'78109-TLA-A210\x00\x00',
b'78109-TLA-A220\x00\x00',
b'78109-TLA-C020\x00\x00',
b'78109-TLA-C110\x00\x00',
b'78109-TLA-C210\x00\x00',
b'78109-TLA-C310\x00\x00',
b'78109-TLB-A020\x00\x00',
b'78109-TLB-A110\x00\x00',
b'78109-TLB-A120\x00\x00',
b'78109-TLB-A210\x00\x00',
b'78109-TLB-A220\x00\x00',
b'78109-TMC-Q210\x00\x00',
b'78109-TMM-F210\x00\x00',
b'78109-TMM-M110\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TLA-A010\x00\x00',
b'38897-TLA-A110\x00\x00',
@@ -675,7 +551,7 @@ FW_VERSIONS = {
b'77959-TMM-F040\x00\x00',
],
},
CAR.CRV_EU: {
CAR.HONDA_CRV_EU: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-R5Z-G740\x00\x00',
b'37805-R5Z-G780\x00\x00',
@@ -693,15 +569,11 @@ FW_VERSIONS = {
b'28101-5LH-E120\x00\x00',
b'28103-5LH-E100\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-T1B-3050\x00\x00',
b'78109-T1V-G020\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-T1G-G940\x00\x00',
],
},
CAR.CRV_HYBRID: {
CAR.HONDA_CRV_HYBRID: {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TMB-H030\x00\x00',
b'57114-TPA-G020\x00\x00',
@@ -727,12 +599,6 @@ FW_VERSIONS = {
b'36161-TPG-A030\x00\x00',
b'36161-TPG-A040\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TMB-H220\x00\x00',
b'78109-TPA-G520\x00\x00',
b'78109-TPG-A110\x00\x00',
b'78109-TPG-A210\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TMB-H040\x00\x00',
b'36802-TPA-E040\x00\x00',
@@ -746,7 +612,7 @@ FW_VERSIONS = {
b'77959-TLA-H240\x00\x00',
],
},
CAR.FIT: {
CAR.HONDA_FIT: {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-T5R-L020\x00\x00',
b'57114-T5R-L220\x00\x00',
@@ -758,12 +624,6 @@ FW_VERSIONS = {
(Ecu.gateway, 0x18daeff1, None): [
b'38897-T5A-J010\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-T5A-A210\x00\x00',
b'78109-T5A-A410\x00\x00',
b'78109-T5A-A420\x00\x00',
b'78109-T5A-A910\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T5R-A040\x00\x00',
b'36161-T5R-A240\x00\x00',
@@ -773,7 +633,7 @@ FW_VERSIONS = {
b'77959-T5R-A230\x00\x00',
],
},
CAR.FREED: {
CAR.HONDA_FREED: {
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TDK-J010\x00\x00',
],
@@ -785,23 +645,20 @@ FW_VERSIONS = {
b'57114-TDK-J120\x00\x00',
b'57114-TDK-J330\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TDK-J310\x00\x00',
b'78109-TDK-J320\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TDK-J070\x00\x00',
b'36161-TDK-J080\x00\x00',
b'36161-TDK-J530\x00\x00',
],
},
CAR.ODYSSEY: {
CAR.HONDA_ODYSSEY: {
(Ecu.gateway, 0x18daeff1, None): [
b'38897-THR-A010\x00\x00',
b'38897-THR-A020\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5MR-3050\x00\x00',
b'37805-5MR-3150\x00\x00',
b'37805-5MR-3250\x00\x00',
b'37805-5MR-4070\x00\x00',
b'37805-5MR-4080\x00\x00',
@@ -861,53 +718,17 @@ FW_VERSIONS = {
b'57114-THR-A040\x00\x00',
b'57114-THR-A110\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-THR-A220\x00\x00',
b'78109-THR-A230\x00\x00',
b'78109-THR-A420\x00\x00',
b'78109-THR-A430\x00\x00',
b'78109-THR-A720\x00\x00',
b'78109-THR-A730\x00\x00',
b'78109-THR-A820\x00\x00',
b'78109-THR-A830\x00\x00',
b'78109-THR-AB20\x00\x00',
b'78109-THR-AB30\x00\x00',
b'78109-THR-AB40\x00\x00',
b'78109-THR-AC20\x00\x00',
b'78109-THR-AC30\x00\x00',
b'78109-THR-AC40\x00\x00',
b'78109-THR-AC50\x00\x00',
b'78109-THR-AD30\x00\x00',
b'78109-THR-AE20\x00\x00',
b'78109-THR-AE30\x00\x00',
b'78109-THR-AE40\x00\x00',
b'78109-THR-AK10\x00\x00',
b'78109-THR-AL10\x00\x00',
b'78109-THR-AN10\x00\x00',
b'78109-THR-C220\x00\x00',
b'78109-THR-C320\x00\x00',
b'78109-THR-C330\x00\x00',
b'78109-THR-CE20\x00\x00',
b'78109-THR-CL10\x00\x00',
b'78109-THR-DA20\x00\x00',
b'78109-THR-DA30\x00\x00',
b'78109-THR-DA40\x00\x00',
b'78109-THR-K120\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-THR-A020\x00\x00',
],
},
CAR.ODYSSEY_CHN: {
CAR.HONDA_ODYSSEY_CHN: {
(Ecu.eps, 0x18da30f1, None): [
b'39990-T6D-H220\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-T6A-J010\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-T6A-F310\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T6A-P040\x00\x00',
],
@@ -915,12 +736,13 @@ FW_VERSIONS = {
b'77959-T6A-P110\x00\x00',
],
},
CAR.PILOT: {
CAR.HONDA_PILOT: {
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TG7-A520\x00\x00',
b'54008-TG7-A530\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5EY-A040\x00\x00',
b'28101-5EY-A050\x00\x00',
b'28101-5EY-A100\x00\x00',
b'28101-5EY-A430\x00\x00',
@@ -941,6 +763,7 @@ FW_VERSIONS = {
b'37805-RLV-4070\x00\x00',
b'37805-RLV-5140\x00\x00',
b'37805-RLV-5230\x00\x00',
b'37805-RLV-A630\x00\x00',
b'37805-RLV-A830\x00\x00',
b'37805-RLV-A840\x00\x00',
b'37805-RLV-B210\x00\x00',
@@ -1011,43 +834,6 @@ FW_VERSIONS = {
b'77959-TGS-A010\x00\x00',
b'77959-TGS-A110\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TG7-A040\x00\x00',
b'78109-TG7-A050\x00\x00',
b'78109-TG7-A420\x00\x00',
b'78109-TG7-A520\x00\x00',
b'78109-TG7-A720\x00\x00',
b'78109-TG7-AJ10\x00\x00',
b'78109-TG7-AJ20\x00\x00',
b'78109-TG7-AK10\x00\x00',
b'78109-TG7-AK20\x00\x00',
b'78109-TG7-AM20\x00\x00',
b'78109-TG7-AP10\x00\x00',
b'78109-TG7-AP20\x00\x00',
b'78109-TG7-AS20\x00\x00',
b'78109-TG7-AT20\x00\x00',
b'78109-TG7-AU20\x00\x00',
b'78109-TG7-AX20\x00\x00',
b'78109-TG7-D020\x00\x00',
b'78109-TG7-DJ10\x00\x00',
b'78109-TG7-YK20\x00\x00',
b'78109-TG8-A420\x00\x00',
b'78109-TG8-A520\x00\x00',
b'78109-TG8-AJ10\x00\x00',
b'78109-TG8-AJ20\x00\x00',
b'78109-TG8-AK20\x00\x00',
b'78109-TG8-AS20\x00\x00',
b'78109-TGS-AB10\x00\x00',
b'78109-TGS-AC10\x00\x00',
b'78109-TGS-AD10\x00\x00',
b'78109-TGS-AJ20\x00\x00',
b'78109-TGS-AK20\x00\x00',
b'78109-TGS-AP20\x00\x00',
b'78109-TGS-AT20\x00\x00',
b'78109-TGS-AX20\x00\x00',
b'78109-TGT-AJ20\x00\x00',
b'78109-TGT-AK30\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TG7-A130\x00\x00',
b'57114-TG7-A140\x00\x00',
@@ -1056,6 +842,7 @@ FW_VERSIONS = {
b'57114-TG7-A630\x00\x00',
b'57114-TG7-A730\x00\x00',
b'57114-TG8-A140\x00\x00',
b'57114-TG8-A230\x00\x00',
b'57114-TG8-A240\x00\x00',
b'57114-TG8-A630\x00\x00',
b'57114-TG8-A730\x00\x00',
@@ -1077,12 +864,6 @@ FW_VERSIONS = {
b'77959-TX4-C010\x00\x00',
b'77959-TX4-C020\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TX4-A210\x00\x00',
b'78109-TX4-A310\x00\x00',
b'78109-TX5-A210\x00\x00',
b'78109-TX5-A310\x00\x00',
],
},
CAR.ACURA_RDX_3G: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
@@ -1095,6 +876,7 @@ FW_VERSIONS = {
b'37805-5YF-A750\x00\x00',
b'37805-5YF-A760\x00\x00',
b'37805-5YF-A850\x00\x00',
b'37805-5YF-A860\x00\x00',
b'37805-5YF-A870\x00\x00',
b'37805-5YF-AD20\x00\x00',
b'37805-5YF-C210\x00\x00',
@@ -1132,24 +914,6 @@ FW_VERSIONS = {
b'28102-5YL-A700\x00\x00',
b'28102-5YL-A711\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TJB-A140\x00\x00',
b'78109-TJB-A240\x00\x00',
b'78109-TJB-A420\x00\x00',
b'78109-TJB-AB10\x00\x00',
b'78109-TJB-AD10\x00\x00',
b'78109-TJB-AF10\x00\x00',
b'78109-TJB-AQ20\x00\x00',
b'78109-TJB-AR10\x00\x00',
b'78109-TJB-AS10\x00\x00',
b'78109-TJB-AU10\x00\x00',
b'78109-TJB-AW10\x00\x00',
b'78109-TJC-A240\x00\x00',
b'78109-TJC-A420\x00\x00',
b'78109-TJC-AA10\x00\x00',
b'78109-TJC-AD10\x00\x00',
b'78109-TJC-AF10\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TJB-A040\x00\x00',
b'77959-TJB-A120\x00\x00',
@@ -1174,7 +938,7 @@ FW_VERSIONS = {
b'39990-TJB-A130\x00\x00',
],
},
CAR.RIDGELINE: {
CAR.HONDA_RIDGELINE: {
(Ecu.eps, 0x18da30f1, None): [
b'39990-T6Z-A020\x00\x00',
b'39990-T6Z-A030\x00\x00',
@@ -1194,18 +958,6 @@ FW_VERSIONS = {
b'38897-T6Z-A010\x00\x00',
b'38897-T6Z-A110\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78108-T6Z-AF10\x00\x00',
b'78109-T6Z-A420\x00\x00',
b'78109-T6Z-A510\x00\x00',
b'78109-T6Z-A710\x00\x00',
b'78109-T6Z-A810\x00\x00',
b'78109-T6Z-A910\x00\x00',
b'78109-T6Z-AA10\x00\x00',
b'78109-T6Z-C620\x00\x00',
b'78109-T6Z-C910\x00\x00',
b'78109-TJZ-A510\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-T6Z-A020\x00\x00',
],
@@ -1217,7 +969,7 @@ FW_VERSIONS = {
b'57114-TJZ-A520\x00\x00',
],
},
CAR.INSIGHT: {
CAR.HONDA_INSIGHT: {
(Ecu.eps, 0x18da30f1, None): [
b'39990-TXM-A040\x00\x00',
],
@@ -1242,15 +994,8 @@ FW_VERSIONS = {
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TXM-A020\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TXM-A010\x00\x00',
b'78109-TXM-A020\x00\x00',
b'78109-TXM-A030\x00\x00',
b'78109-TXM-A110\x00\x00',
b'78109-TXM-C010\x00\x00',
],
},
CAR.HRV: {
CAR.HONDA_HRV: {
(Ecu.gateway, 0x18daeff1, None): [
b'38897-T7A-A010\x00\x00',
b'38897-T7A-A110\x00\x00',
@@ -1267,36 +1012,36 @@ FW_VERSIONS = {
(Ecu.srs, 0x18da53f1, None): [
b'77959-T7A-A230\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-THW-A110\x00\x00',
b'78109-THX-A110\x00\x00',
b'78109-THX-A120\x00\x00',
b'78109-THX-A210\x00\x00',
b'78109-THX-A220\x00\x00',
b'78109-THX-C220\x00\x00',
],
},
CAR.HRV_3G: {
CAR.HONDA_HRV_3G: {
(Ecu.eps, 0x18da30f1, None): [
b'39990-3M0-G110\x00\x00',
b'39990-3W0-A030\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-3M0-M110\x00\x00',
b'38897-3W1-A010\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-3M0-K840\x00\x00',
b'77959-3V0-A820\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78108-3V1-A220\x00\x00',
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'8S102-3M6-P030\x00\x00',
b'8S102-3W0-A060\x00\x00',
b'8S102-3W0-AB10\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-3M6-M010\x00\x00',
b'57114-3W0-A040\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-6EH-A010\x00\x00',
b'28101-6JC-M310\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-6CT-A710\x00\x00',
b'37805-6HZ-M630\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
b'46114-3W0-A020\x00\x00',
@@ -1314,11 +1059,6 @@ FW_VERSIONS = {
b'77959-TX6-A230\x00\x00',
b'77959-TX6-C210\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-T3R-A120\x00\x00',
b'78109-T3R-A410\x00\x00',
b'78109-TV9-A510\x00\x00',
],
},
CAR.HONDA_E: {
(Ecu.eps, 0x18da30f1, None): [
@@ -1333,9 +1073,6 @@ FW_VERSIONS = {
(Ecu.srs, 0x18da53f1, None): [
b'77959-TYF-G430\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78108-TYF-G610\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TYF-E030\x00\x00',
],
@@ -1346,7 +1083,7 @@ FW_VERSIONS = {
b'57114-TYF-E030\x00\x00',
],
},
CAR.CIVIC_2022: {
CAR.HONDA_CIVIC_2022: {
(Ecu.eps, 0x18da30f1, None): [
b'39990-T24-T120\x00\x00',
b'39990-T39-A130\x00\x00',
@@ -1367,15 +1104,6 @@ FW_VERSIONS = {
b'77959-T47-A940\x00\x00',
b'77959-T47-A950\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78108-T21-A220\x00\x00',
b'78108-T21-A230\x00\x00',
b'78108-T21-A620\x00\x00',
b'78108-T21-A740\x00\x00',
b'78108-T21-MB10\x00\x00',
b'78108-T22-A020\x00\x00',
b'78108-T23-A110\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T20-A060\x00\x00',
b'36161-T20-A070\x00\x00',
selfdrive/car/honda/hondacan.py
+5 -2
View File
@@ -143,7 +143,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
acc_hud_values = {
'CRUISE_SPEED': hud.v_cruise,
'ENABLE_MINI_CAR': 1 if enabled else 0,
'HUD_DISTANCE': 0, # max distance setting on display
# only moves the lead car without ACC_ON
'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4, # wraps to 0 at 4 bars
'IMPERIAL_UNIT': int(not is_metric),
'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
'SET_ME_X01_2': 1,
@@ -154,6 +155,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
acc_hud_values['FCM_OFF'] = 1
acc_hud_values['FCM_OFF_2'] = 1
else:
# Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
acc_hud_values['ACC_ON'] = int(enabled)
acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
acc_hud_values['PCM_GAS'] = hud.pcm_accel
acc_hud_values['SET_ME_X01'] = 1
@@ -192,7 +195,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
}
commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
if CP.carFingerprint == CAR.CIVIC_BOSCH:
if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
return commands
selfdrive/car/honda/interface.py
+24 -49
View File
@@ -4,8 +4,8 @@ from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import interp
from openpilot.selfdrive.car.honda.hondacan import CanBus
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
HONDA_BOSCH_RADARLESS
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -16,6 +16,7 @@ EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
class CarInterface(CarInterfaceBase):
@@ -23,8 +24,6 @@ class CarInterface(CarInterfaceBase):
def get_pid_accel_limits(CP, current_speed, cruise_speed):
if CP.carFingerprint in HONDA_BOSCH:
return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
elif CP.enableGasInterceptor:
return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
else:
# NIDECs don't allow acceleration near cruise_speed,
# so limit limits of pid to prevent windup
@@ -49,12 +48,11 @@ class CarInterface(CarInterfaceBase):
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
ret.openpilotLongitudinalControl = True
ret.pcmCruise = not ret.enableGasInterceptor
ret.pcmCruise = True
if candidate == CAR.CRV_5G:
if candidate == CAR.HONDA_CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
# Detect Bosch cars with new HUD msgs
@@ -62,7 +60,7 @@ class CarInterface(CarInterfaceBase):
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
# Accord ICE 1.5T CVT has different gearbox message
if candidate == CAR.ACCORD and 0x191 in fingerprint[CAN.pt]:
if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
ret.transmissionType = TransmissionType.cvt
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
@@ -91,7 +89,7 @@ class CarInterface(CarInterfaceBase):
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if candidate == CAR.CIVIC:
if candidate == CAR.HONDA_CIVIC:
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@@ -105,13 +103,12 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACCORD:
elif candidate == CAR.HONDA_ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.8467
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
@@ -120,16 +117,14 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ACURA_ILX:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU):
elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G:
elif candidate == CAR.HONDA_CRV_5G:
if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@@ -139,70 +134,58 @@ class CarInterface(CarInterfaceBase):
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
ret.tireStiffnessFactor = 0.677
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID:
elif candidate == CAR.HONDA_CRV_HYBRID:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT:
elif candidate == CAR.HONDA_FIT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED:
elif candidate == CAR.HONDA_FREED:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.tireStiffnessFactor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HRV, CAR.HRV_3G):
elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.tireStiffnessFactor = 0.5
if candidate == CAR.HRV:
if candidate == CAR.HONDA_HRV:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.ACURA_RDX:
ret.tireStiffnessFactor = 0.444
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
ret.tireStiffnessFactor = 0.677
elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
ret.tireStiffnessFactor = 0.82
elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
if candidate == CAR.ODYSSEY_CHN:
if candidate == CAR.HONDA_ODYSSEY_CHN:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.PILOT:
elif candidate == CAR.HONDA_PILOT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE:
elif candidate == CAR.HONDA_RIDGELINE:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT:
elif candidate == CAR.HONDA_INSIGHT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
else:
@@ -210,7 +193,7 @@ class CarInterface(CarInterfaceBase):
# These cars use alternate user brake msg (0x1BE)
# TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD:
if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G):
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
@@ -223,16 +206,13 @@ class CarInterface(CarInterfaceBase):
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
if candidate in HONDA_BOSCH_RADARLESS:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
ret.steerActuatorDelay = 0.1
@@ -251,7 +231,7 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
*create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
# events
@@ -277,8 +257,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/honda/tests/test_honda.py
+1 -1
View File
@@ -4,7 +4,7 @@ import unittest
from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS
HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
class TestHondaFingerprint(unittest.TestCase):
selfdrive/car/honda/values.py
+91 -115
View File
@@ -5,7 +5,7 @@ from cereal import car
from openpilot.common.conversions import Conversions as CV
from panda.python import uds
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
@@ -68,6 +68,11 @@ class CruiseButtons:
MAIN = 1
class CruiseSettings:
DISTANCE = 3
LKAS = 1
# See dbc files for info on values
VISUAL_HUD = {
VisualAlert.none: 0,
@@ -82,7 +87,7 @@ VISUAL_HUD = {
@dataclass
class HondaCarInfo(CarInfo):
class HondaCarDocs(CarDocs):
package: str = "Honda Sensing"
def init_make(self, CP: car.CarParams):
@@ -110,174 +115,155 @@ class HondaNidecPlatformConfig(PlatformConfig):
class CAR(Platforms):
# Bosch Cars
ACCORD = HondaBoschPlatformConfig(
"HONDA ACCORD 2018",
HONDA_ACCORD = HondaBoschPlatformConfig(
[
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end
# steerRatio: 11.82 is spec end-to-end
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
dbc_dict('honda_accord_2018_can_generated', None),
)
CIVIC_BOSCH = HondaBoschPlatformConfig(
"HONDA CIVIC (BOSCH) 2019",
HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
[
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
],
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
)
CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019",
None, # don't show in docs
CIVIC_BOSCH.specs,
HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
[], # don't show in docs
HONDA_CIVIC_BOSCH.specs,
dbc_dict('honda_accord_2018_can_generated', None),
)
CIVIC_2022 = HondaBoschPlatformConfig(
"HONDA CIVIC 2022",
HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
[
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CIVIC_BOSCH.specs,
HONDA_CIVIC_BOSCH.specs,
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH_RADARLESS,
)
CRV_5G = HondaBoschPlatformConfig(
"HONDA CR-V 2017",
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end
HONDA_CRV_5G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
# steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
flags=HondaFlags.BOSCH_ALT_BRAKE,
)
CRV_HYBRID = HondaBoschPlatformConfig(
"HONDA CR-V HYBRID 2019",
HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
[HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)],
# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_accord_2018_can_generated', None),
)
HRV_3G = HondaBoschPlatformConfig(
"HONDA HR-V 2023",
HondaCarInfo("Honda HR-V 2023", "All"),
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41),
HONDA_HRV_3G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda HR-V 2023", "All")],
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
flags=HondaFlags.BOSCH_RADARLESS,
)
ACURA_RDX_3G = HondaBoschPlatformConfig(
"ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec
[HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH_ALT_BRAKE,
)
INSIGHT = HondaBoschPlatformConfig(
"HONDA INSIGHT 2019",
HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec
HONDA_INSIGHT = HondaBoschPlatformConfig(
[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
dbc_dict('honda_insight_ex_2019_can_generated', None),
)
HONDA_E = HondaBoschPlatformConfig(
"HONDA E 2020",
HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71),
[HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
dbc_dict('acura_rdx_2020_can_generated', None),
)
# Nidec Cars
ACURA_ILX = HondaNidecPlatformConfig(
"ACURA ILX 2016",
HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end
[HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV = HondaNidecPlatformConfig(
"HONDA CR-V 2016",
HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec
HONDA_CRV = HondaNidecPlatformConfig(
[HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV_EU = HondaNidecPlatformConfig(
"HONDA CR-V EU 2016",
None, # Euro version of CRV Touring, don't show in docs
CRV.specs,
HONDA_CRV_EU = HondaNidecPlatformConfig(
[], # Euro version of CRV Touring, don't show in docs
HONDA_CRV.specs,
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FIT = HondaNidecPlatformConfig(
"HONDA FIT 2018",
HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39),
HONDA_FIT = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FREED = HondaNidecPlatformConfig(
"HONDA FREED 2020",
HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT
HONDA_FREED = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HRV = HondaNidecPlatformConfig(
"HONDA HRV 2019",
HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
HRV_3G.specs,
HONDA_HRV = HondaNidecPlatformConfig(
[HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
HONDA_HRV_3G.specs,
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ODYSSEY = HondaNidecPlatformConfig(
"HONDA ODYSSEY 2018",
HondaCarInfo("Honda Odyssey 2018-20"),
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41),
HONDA_ODYSSEY = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Odyssey 2018-20")],
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
)
ODYSSEY_CHN = HondaNidecPlatformConfig(
"HONDA ODYSSEY CHN 2019",
None, # Chinese version of Odyssey, don't show in docs
ODYSSEY.specs,
HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
[], # Chinese version of Odyssey, don't show in docs
HONDA_ODYSSEY.specs,
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ACURA_RDX = HondaNidecPlatformConfig(
"ACURA RDX 2018",
HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec
[HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
PILOT = HondaNidecPlatformConfig(
"HONDA PILOT 2017",
HONDA_PILOT = HondaNidecPlatformConfig(
[
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
RIDGELINE = HondaNidecPlatformConfig(
"HONDA RIDGELINE 2017",
HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec
HONDA_RIDGELINE = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CIVIC = HondaNidecPlatformConfig(
"HONDA CIVIC 2016",
HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
HONDA_CIVIC = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
)
HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xF112)
HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(0xF112)
FW_QUERY_CONFIG = FwQueryConfig(
@@ -290,17 +276,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
),
# Data collection requests:
# Attempt to get the radarless Civic 2022+ camera FW
# Log manufacturer-specific identifier for current ECUs
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
bus=0,
logging=True
),
# Log extra identifiers for current ECUs
Request(
[HONDA_VERSION_REQUEST],
[HONDA_VERSION_RESPONSE],
[HONDA_ALT_VERSION_REQUEST],
[HONDA_ALT_VERSION_RESPONSE],
bus=1,
logging=True,
),
@@ -321,27 +300,24 @@ FW_QUERY_CONFIG = FwQueryConfig(
# We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present
non_essential_ecus={
Ecu.programmedFuelInjection: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.transmission: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.srs: [CAR.ACCORD],
Ecu.eps: [CAR.ACCORD],
Ecu.vsa: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.combinationMeter: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.gateway: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.electricBrakeBooster: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.shiftByWire: [CAR.ACCORD], # existence correlates with transmission type for ICE
Ecu.hud: [CAR.ACCORD], # existence correlates with trim level
Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
},
extra_ecus=[
(Ecu.combinationMeter, 0x18da60f1, None),
# The only other ECU on PT bus accessible by camera on radarless Civic
(Ecu.unknown, 0x18DAB3F1, None),
# This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
# Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
# TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
# (Ecu.unknown, 0x18DAB3F1, None),
],
)
STEER_THRESHOLD = {
# default is 1200, overrides go here
CAR.ACURA_RDX: 400,
CAR.CRV_EU: 400,
CAR.HONDA_CRV_EU: 400,
}
HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
@@ -349,5 +325,5 @@ HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
selfdrive/car/hyundai/carcontroller.py
+3 -3
View File
@@ -6,7 +6,7 @@ from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAN_CANFD_CAR
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
from openpilot.selfdrive.car.interfaces import CarControllerBase
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -141,7 +141,7 @@ class CarController(CarControllerBase):
set_speed_in_units, stopping, CC.cruiseControl.override))
else:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units))
set_speed_in_units, hud_control))
self.accel_last = accel
else:
# button presses
@@ -160,7 +160,7 @@ class CarController(CarControllerBase):
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
hud_control.leadVisible, set_speed_in_units, stopping,
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca))
# 20 Hz LFA MFA message
selfdrive/car/hyundai/carstate.py
+3 -1
View File
@@ -119,6 +119,7 @@ class CarState(CarStateBase):
ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
@@ -211,7 +212,7 @@ class CarState(CarStateBase):
# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
cp.vl["BLINKERS"][right_blinker_sig])
@@ -259,6 +260,7 @@ class CarState(CarStateBase):
messages = [
# address, frequency
("MDPS12", 100 if CP.flags & HyundaiFlags.CAN_CANFD else 50),
("TCS11", 100),
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
selfdrive/car/hyundai/fingerprints.py
+133 -699
View File
File diff suppressed because it is too large Load Diff
selfdrive/car/hyundai/hyundaican.py
+9 -9
View File
@@ -33,12 +33,12 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
values["CF_Lkas_MsgCount"] = frame % 0x10
if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.HYUNDAI_SANTA_FE,
CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2
@@ -126,12 +126,12 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
commands = []
scc11_values = {
"MainMode_ACC": 1,
"TauGapSet": 4,
"TauGapSet": hud_control.leadDistanceBars,
"VSetDis": set_speed if enabled else 0,
"AliveCounterACC": idx % 0x10,
"ObjValid": 1, # close lead makes controls tighter
@@ -167,7 +167,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
"JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
"JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
"ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
"ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
"ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
}
commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
selfdrive/car/hyundai/hyundaicanfd.py
+2 -2
View File
@@ -161,7 +161,7 @@ def create_lfahda_cluster(packer, CAN, enabled, can_canfd):
return packer.make_can_msg(msg, CAN.ECAN, values)
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
@@ -186,7 +186,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
"SET_ME_2": 0x4,
"SET_ME_3": 0x3,
"SET_ME_TMP_64": 0x64,
"DISTANCE_SETTING": 4,
"DISTANCE_SETTING": hud_control.leadDistanceBars,
}
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
selfdrive/car/hyundai/interface.py
+1 -4
View File
@@ -148,7 +148,7 @@ class CarInterface(CarInterfaceBase):
elif ret.flags & HyundaiFlags.EV:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
ret.flags |= HyundaiFlags.ALT_LIMITS.value
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
@@ -191,6 +191,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)

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