mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-29 23:43:47 +08:00
Merge branch 'master' into dev-priv/master
# Conflicts: # panda # selfdrive/car/honda/interface.py # selfdrive/car/hyundai/hyundaican.py # selfdrive/car/mazda/carstate.py # selfdrive/car/nissan/nissancan.py # selfdrive/car/subaru/carcontroller.py # selfdrive/car/subaru/subarucan.py # selfdrive/car/volkswagen/mqbcan.py # selfdrive/car/volkswagen/pqcan.py # selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py # selfdrive/controls/lib/longitudinal_planner.py # selfdrive/ui/SConscript # selfdrive/ui/qt/offroad/settings.cc # selfdrive/ui/qt/onroad.cc # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts
This commit is contained in:
Jason Wen
@@ -59,6 +59,8 @@ jobs:
|
||||
cp .pre-commit-config.yaml $STRIPPED_DIR
|
||||
cp .pylintrc $STRIPPED_DIR
|
||||
cp mypy.ini $STRIPPED_DIR
|
||||
cp pyproject.toml $STRIPPED_DIR
|
||||
cp poetry.lock $STRIPPED_DIR
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "pre-commit run --all"
|
||||
|
||||
@@ -207,6 +209,7 @@ jobs:
|
||||
$UNIT_TEST system/loggerd && \
|
||||
$UNIT_TEST selfdrive/car && \
|
||||
$UNIT_TEST selfdrive/locationd && \
|
||||
$UNIT_TEST system/tests && \
|
||||
$UNIT_TEST system/ubloxd && \
|
||||
selfdrive/locationd/test/_test_locationd_lib.py && \
|
||||
./system/ubloxd/tests/test_glonass_runner && \
|
||||
|
||||
@@ -1,5 +1,9 @@
|
||||
repos:
|
||||
- repo: https://github.com/python-poetry/poetry
|
||||
rev: '1.4.0'
|
||||
rev: '1.5.0'
|
||||
hooks:
|
||||
- id: poetry-check
|
||||
- id: poetry-lock
|
||||
name: validate poetry lock
|
||||
args:
|
||||
- --check
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
# A comma-separated list of package or module names from where C extensions may
|
||||
# be loaded. Extensions are loading into the active Python interpreter and may
|
||||
# run arbitrary code
|
||||
extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av
|
||||
extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av,pycurl
|
||||
|
||||
# Add files or directories to the blacklist. They should be base names, not
|
||||
# paths.
|
||||
@@ -466,4 +466,4 @@ check-str-concat-over-line-jumps=yes
|
||||
|
||||
# Exceptions that will emit a warning when being caught. Defaults to
|
||||
# "Exception"
|
||||
overgeneral-exceptions=Exception
|
||||
overgeneral-exceptions=
|
||||
|
||||
Vendored
+3
-2
@@ -154,6 +154,7 @@ pipeline {
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||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
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["check dirty", "release/check-dirty.sh"],
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["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
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["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
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||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
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||||
])
|
||||
}
|
||||
@@ -174,12 +175,12 @@ pipeline {
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||||
steps {
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||||
phone_steps("tici-common", [
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["build", "cd selfdrive/manager && ./build.py"],
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||||
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
|
||||
["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
|
||||
["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
|
||||
["test pigeond", "python system/sensord/tests/test_pigeond.py"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -219,7 +220,7 @@ pipeline {
|
||||
steps {
|
||||
phone_steps("tici-common", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
|
||||
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
+13
@@ -1,3 +1,16 @@
|
||||
Version 0.9.3 (2023-06-20)
|
||||
========================
|
||||
* New driving model
|
||||
* Improved height estimation and added height tracking in liveCalibration
|
||||
* Model inputs refactor
|
||||
* New driving personality setting
|
||||
* Three settings: aggressive, standard, and relaxed
|
||||
* Standard is recommended and the default
|
||||
* In aggressive mode, lead follow distance is shorter and acceleration response is quicker
|
||||
* In relaxed mode, lead follow distance is longer
|
||||
* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
|
||||
* Improved thermal management logic
|
||||
|
||||
Version 0.9.2 (2023-05-22)
|
||||
========================
|
||||
* New driving model
|
||||
|
||||
+1
-1
Submodule cereal updated: d58979cda8...06c6cbb790
@@ -153,9 +153,9 @@ class SwagLogger(logging.Logger):
|
||||
def bind_global(self, **kwargs):
|
||||
self.global_ctx.update(kwargs)
|
||||
|
||||
def event(self, event_name, *args, **kwargs):
|
||||
def event(self, event, *args, **kwargs):
|
||||
evt = NiceOrderedDict()
|
||||
evt['event'] = event_name
|
||||
evt['event'] = event
|
||||
if args:
|
||||
evt['args'] = args
|
||||
evt.update(kwargs)
|
||||
|
||||
+3
-3
@@ -104,6 +104,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"DisablePowerDown", PERSISTENT},
|
||||
{"ExperimentalMode", PERSISTENT},
|
||||
{"ExperimentalModeConfirmed", PERSISTENT},
|
||||
{"LongitudinalPersonality", PERSISTENT},
|
||||
{"ExperimentalLongitudinalEnabled", PERSISTENT},
|
||||
{"DisableUpdates", PERSISTENT},
|
||||
{"DisengageOnAccelerator", PERSISTENT},
|
||||
@@ -112,7 +113,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"DoShutdown", CLEAR_ON_MANAGER_START},
|
||||
{"DoUninstall", CLEAR_ON_MANAGER_START},
|
||||
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ForcePowerDown", CLEAR_ON_MANAGER_START},
|
||||
{"ForcePowerDown", PERSISTENT},
|
||||
{"GitBranch", PERSISTENT},
|
||||
{"GitCommit", PERSISTENT},
|
||||
{"GitDiff", PERSISTENT},
|
||||
@@ -150,6 +151,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"LiveParameters", PERSISTENT},
|
||||
{"LiveTorqueCarParams", PERSISTENT},
|
||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||
{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavSettingTime24h", PERSISTENT},
|
||||
@@ -185,11 +187,9 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
|
||||
{"Version", PERSISTENT},
|
||||
{"VisionRadarToggle", PERSISTENT},
|
||||
{"WideCameraOnly", PERSISTENT},
|
||||
{"ApiCache_Device", PERSISTENT},
|
||||
{"ApiCache_DriveStats", PERSISTENT},
|
||||
{"ApiCache_NavDestinations", PERSISTENT},
|
||||
{"ApiCache_Owner", PERSISTENT},
|
||||
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
import datetime
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
|
||||
+2
-2
@@ -189,7 +189,7 @@ bool create_directories(const std::string& dir, mode_t mode) {
|
||||
return createDirectory(dir, mode);
|
||||
}
|
||||
|
||||
std::string getenv(const char* key, const char* default_val) {
|
||||
std::string getenv(const char* key, std::string default_val) {
|
||||
const char* val = ::getenv(key);
|
||||
return val ? val : default_val;
|
||||
}
|
||||
@@ -260,7 +260,7 @@ struct tm get_time() {
|
||||
bool time_valid(struct tm sys_time) {
|
||||
int year = 1900 + sys_time.tm_year;
|
||||
int month = 1 + sys_time.tm_mon;
|
||||
return (year > 2021) || (year == 2021 && month >= 6);
|
||||
return (year > 2023) || (year == 2023 && month >= 6);
|
||||
}
|
||||
|
||||
} // namespace util
|
||||
|
||||
+1
-1
@@ -70,7 +70,7 @@ std::string string_format(const std::string& format, Args... args) {
|
||||
return std::string(buf.get(), buf.get() + size - 1);
|
||||
}
|
||||
|
||||
std::string getenv(const char* key, const char* default_val = "");
|
||||
std::string getenv(const char* key, std::string default_val = "");
|
||||
int getenv(const char* key, int default_val);
|
||||
float getenv(const char* key, float default_val);
|
||||
|
||||
|
||||
+256
-255
@@ -6,262 +6,262 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|
||||
# 252 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Harness Kit<br> |Video|
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|
||||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|
||||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|
||||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>7,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
<a id="footnotes"></a>
|
||||
### Footnotes
|
||||
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
@@ -270,8 +270,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>9</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
|
||||
<sup>10</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>11</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
@@ -9,11 +9,6 @@ source "$BASEDIR/launch_env.sh"
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function agnos_init {
|
||||
# wait longer for weston to come up
|
||||
if [ -f "$BASEDIR/prebuilt" ]; then
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# TODO: move this to agnos
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
|
||||
|
||||
+1
-1
Submodule opendbc updated: 4e9cbea8ea...67da43f7a7
+1
-1
Submodule panda updated: bb7d6dbdaa...deb49f107e
Generated
+29
-17
@@ -188,15 +188,15 @@ tests = ["pytest"]
|
||||
|
||||
[[package]]
|
||||
name = "astroid"
|
||||
version = "2.12.12"
|
||||
version = "2.15.5"
|
||||
description = "An abstract syntax tree for Python with inference support."
|
||||
category = "main"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7.2"
|
||||
|
||||
[package.dependencies]
|
||||
lazy-object-proxy = ">=1.4.0"
|
||||
typing-extensions = {version = ">=3.10", markers = "python_version < \"3.10\""}
|
||||
typing-extensions = {version = ">=4.0.0", markers = "python_version < \"3.11\""}
|
||||
wrapt = {version = ">=1.11,<2", markers = "python_version < \"3.11\""}
|
||||
|
||||
[[package]]
|
||||
@@ -837,7 +837,7 @@ tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytes
|
||||
name = "dill"
|
||||
version = "0.3.5.1"
|
||||
description = "serialize all of python"
|
||||
category = "main"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*"
|
||||
|
||||
@@ -1631,7 +1631,7 @@ six = "*"
|
||||
name = "isort"
|
||||
version = "5.10.1"
|
||||
description = "A Python utility / library to sort Python imports."
|
||||
category = "main"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.6.1,<4.0"
|
||||
|
||||
@@ -1982,7 +1982,7 @@ tabulate = "*"
|
||||
name = "lazy-object-proxy"
|
||||
version = "1.7.1"
|
||||
description = "A fast and thorough lazy object proxy."
|
||||
category = "main"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
@@ -3253,16 +3253,16 @@ python-versions = "*"
|
||||
|
||||
[[package]]
|
||||
name = "pylint"
|
||||
version = "2.15.4"
|
||||
version = "2.17.4"
|
||||
description = "python code static checker"
|
||||
category = "main"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7.2"
|
||||
|
||||
[package.dependencies]
|
||||
astroid = ">=2.12.11,<=2.14.0-dev0"
|
||||
astroid = ">=2.15.4,<=2.17.0-dev0"
|
||||
colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
|
||||
dill = ">=0.2"
|
||||
dill = {version = ">=0.2", markers = "python_version < \"3.11\""}
|
||||
isort = ">=4.2.5,<6"
|
||||
mccabe = ">=0.6,<0.8"
|
||||
platformdirs = ">=2.2.0"
|
||||
@@ -4403,7 +4403,7 @@ python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
|
||||
name = "tomli"
|
||||
version = "2.0.1"
|
||||
description = "A lil' TOML parser"
|
||||
category = "main"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
|
||||
@@ -4565,6 +4565,14 @@ category = "dev"
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
|
||||
[[package]]
|
||||
name = "types-python-dateutil"
|
||||
version = "2.8.19.13"
|
||||
description = "Typing stubs for python-dateutil"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
|
||||
[[package]]
|
||||
name = "types-pyyaml"
|
||||
version = "6.0.12"
|
||||
@@ -4709,7 +4717,7 @@ python-versions = ">=3.7"
|
||||
name = "wrapt"
|
||||
version = "1.14.1"
|
||||
description = "Module for decorators, wrappers and monkey patching."
|
||||
category = "main"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
|
||||
|
||||
@@ -4804,7 +4812,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
|
||||
[metadata]
|
||||
lock-version = "1.1"
|
||||
python-versions = "~3.8"
|
||||
content-hash = "0f8861fe679c2ba9a2a6365498a02ee353023e1a3ef882b117516fb7ea28fb58"
|
||||
content-hash = "2e03ebb1f6c441a0154531ee92f6f1f8c9e74544d4295d3753029bb8dcd457d1"
|
||||
|
||||
[metadata.files]
|
||||
adal = [
|
||||
@@ -4969,8 +4977,8 @@ argon2-cffi-bindings = [
|
||||
{file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:5e00316dabdaea0b2dd82d141cc66889ced0cdcbfa599e8b471cf22c620c329a"},
|
||||
]
|
||||
astroid = [
|
||||
{file = "astroid-2.12.12-py3-none-any.whl", hash = "sha256:72702205200b2a638358369d90c222d74ebc376787af8fb2f7f2a86f7b5cc85f"},
|
||||
{file = "astroid-2.12.12.tar.gz", hash = "sha256:1c00a14f5a3ed0339d38d2e2e5b74ea2591df5861c0936bb292b84ccf3a78d83"},
|
||||
{file = "astroid-2.15.5-py3-none-any.whl", hash = "sha256:078e5212f9885fa85fbb0cf0101978a336190aadea6e13305409d099f71b2324"},
|
||||
{file = "astroid-2.15.5.tar.gz", hash = "sha256:1039262575027b441137ab4a62a793a9b43defb42c32d5670f38686207cd780f"},
|
||||
]
|
||||
asttokens = [
|
||||
{file = "asttokens-2.0.8-py2.py3-none-any.whl", hash = "sha256:e3305297c744ae53ffa032c45dc347286165e4ffce6875dc662b205db0623d86"},
|
||||
@@ -7569,8 +7577,8 @@ pylev = [
|
||||
{file = "pylev-1.4.0.tar.gz", hash = "sha256:9e77e941042ad3a4cc305dcdf2b2dec1aec2fbe3dd9015d2698ad02b173006d1"},
|
||||
]
|
||||
pylint = [
|
||||
{file = "pylint-2.15.4-py3-none-any.whl", hash = "sha256:629cf1dbdfb6609d7e7a45815a8bb59300e34aa35783b5ac563acaca2c4022e9"},
|
||||
{file = "pylint-2.15.4.tar.gz", hash = "sha256:5441e9294335d354b7bad57c1044e5bd7cce25c433475d76b440e53452fa5cb8"},
|
||||
{file = "pylint-2.17.4-py3-none-any.whl", hash = "sha256:7a1145fb08c251bdb5cca11739722ce64a63db479283d10ce718b2460e54123c"},
|
||||
{file = "pylint-2.17.4.tar.gz", hash = "sha256:5dcf1d9e19f41f38e4e85d10f511e5b9c35e1aa74251bf95cdd8cb23584e2db1"},
|
||||
]
|
||||
pymsalruntime = [
|
||||
{file = "pymsalruntime-0.11.2-cp310-cp310-win32.whl", hash = "sha256:a45e35c9fa58c196029bb9f5b8bedd313b2a8ac971d576c57c31cb06139de247"},
|
||||
@@ -8597,6 +8605,10 @@ types-pycurl = [
|
||||
{file = "types-pycurl-7.45.1.tar.gz", hash = "sha256:82e00aa2981595bfa55e5a3bac42221eb3435b0026dffbe1177f6ac9f2d51200"},
|
||||
{file = "types_pycurl-7.45.1-py3-none-any.whl", hash = "sha256:9eab3414da4a1b1e9a628bd288fc5172b8c182e1d9fb6d8d082441b0fd64baed"},
|
||||
]
|
||||
types-python-dateutil = [
|
||||
{file = "types-python-dateutil-2.8.19.13.tar.gz", hash = "sha256:09a0275f95ee31ce68196710ed2c3d1b9dc42e0b61cc43acc369a42cb939134f"},
|
||||
{file = "types_python_dateutil-2.8.19.13-py3-none-any.whl", hash = "sha256:0b0e7c68e7043b0354b26a1e0225cb1baea7abb1b324d02b50e2d08f1221043f"},
|
||||
]
|
||||
types-pyyaml = [
|
||||
{file = "types-PyYAML-6.0.12.tar.gz", hash = "sha256:f6f350418125872f3f0409d96a62a5a5ceb45231af5cc07ee0034ec48a3c82fa"},
|
||||
{file = "types_PyYAML-6.0.12-py3-none-any.whl", hash = "sha256:29228db9f82df4f1b7febee06bbfb601677882e98a3da98132e31c6874163e15"},
|
||||
|
||||
+4
-3
@@ -29,7 +29,7 @@ libusb1 = "^3.0.0"
|
||||
nose = "^1.3.7"
|
||||
numpy = "^1.23.0"
|
||||
onnx = "^1.12.0"
|
||||
onnxruntime-gpu = { version = "^1.11.1", platform = "linux" }
|
||||
onnxruntime-gpu = { version = "^1.11.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
|
||||
pillow = "^9.2.0"
|
||||
poetry = "==1.2.2"
|
||||
protobuf = "==3.20.1"
|
||||
@@ -37,7 +37,6 @@ psutil = "^5.9.1"
|
||||
pycapnp = "==1.1.0"
|
||||
pycryptodome = "^3.15.0"
|
||||
PyJWT = "^2.5.0"
|
||||
pylint = "^2.15.4"
|
||||
pyopencl = "^2022.2.4"
|
||||
pyserial = "^3.5"
|
||||
python-dateutil = "^2.8.2"
|
||||
@@ -66,7 +65,7 @@ sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
|
||||
av = "^9.2.0"
|
||||
azure-storage-blob = "~2.1"
|
||||
breathe = "^4.34.0"
|
||||
carla = { version = "==0.9.13", platform = "linux" }
|
||||
carla = { version = "==0.9.13", platform = "linux", markers = "platform_machine == 'x86_64'" }
|
||||
control = "^0.9.2"
|
||||
coverage = "^6.4.1"
|
||||
dictdiffer = "^0.9.0"
|
||||
@@ -92,6 +91,7 @@ pprofile = "^2.1.0"
|
||||
pre-commit = "^2.19.0"
|
||||
pycurl = "^7.45.1"
|
||||
pygame = "^2.1.2"
|
||||
pylint = "^2.17.4"
|
||||
pyprof2calltree = "^1.4.5"
|
||||
pytest = "^7.1.2"
|
||||
pytest-xdist = "^2.5.0"
|
||||
@@ -106,6 +106,7 @@ tenacity = "^8.0.1"
|
||||
types-atomicwrites = "^1.4.5"
|
||||
types-certifi = "^2021.10.8"
|
||||
types-pycurl = "^7.45.1"
|
||||
types-python-dateutil = "^2.8.19.13"
|
||||
types-PyYAML = "^6.0"
|
||||
types-requests = "^2.28.11"
|
||||
types-tabulate = "^0.8.10"
|
||||
|
||||
+10
-3
@@ -39,6 +39,7 @@ common/filter_simple.py
|
||||
common/stat_live.py
|
||||
common/spinner.py
|
||||
common/text_window.py
|
||||
common/time.py
|
||||
|
||||
common/kalman/.gitignore
|
||||
common/kalman/*
|
||||
@@ -200,7 +201,6 @@ selfdrive/controls/lib/drive_helpers.py
|
||||
selfdrive/controls/lib/events.py
|
||||
selfdrive/controls/lib/lane_planner.py
|
||||
selfdrive/controls/lib/latcontrol_angle.py
|
||||
selfdrive/controls/lib/latcontrol_indi.py
|
||||
selfdrive/controls/lib/latcontrol_torque.py
|
||||
selfdrive/controls/lib/latcontrol_pid.py
|
||||
selfdrive/controls/lib/latcontrol.py
|
||||
@@ -312,9 +312,11 @@ selfdrive/thermald/power_monitoring.py
|
||||
selfdrive/thermald/fan_controller.py
|
||||
|
||||
selfdrive/test/__init__.py
|
||||
selfdrive/test/fuzzy_generation.py
|
||||
selfdrive/test/helpers.py
|
||||
selfdrive/test/setup_device_ci.sh
|
||||
selfdrive/test/test_onroad.py
|
||||
selfdrive/test/test_time_to_onroad.py
|
||||
|
||||
selfdrive/ui/.gitignore
|
||||
selfdrive/ui/SConscript
|
||||
@@ -496,6 +498,7 @@ body/crypto/**
|
||||
cereal/.gitignore
|
||||
cereal/__init__.py
|
||||
cereal/car.capnp
|
||||
cereal/custom.capnp
|
||||
cereal/legacy.capnp
|
||||
cereal/log.capnp
|
||||
cereal/services.py
|
||||
@@ -505,6 +508,10 @@ cereal/logger/logger.h
|
||||
cereal/messaging/.gitignore
|
||||
cereal/messaging/__init__.py
|
||||
cereal/messaging/bridge.cc
|
||||
cereal/messaging/event.cc
|
||||
cereal/messaging/event.h
|
||||
cereal/messaging/impl_fake.cc
|
||||
cereal/messaging/impl_fake.h
|
||||
cereal/messaging/impl_msgq.cc
|
||||
cereal/messaging/impl_msgq.h
|
||||
cereal/messaging/impl_zmq.cc
|
||||
@@ -588,8 +595,8 @@ opendbc/hyundai_kia_mando_front_radar_generated.dbc
|
||||
|
||||
opendbc/mazda_2017.dbc
|
||||
|
||||
opendbc/nissan_x_trail_2017.dbc
|
||||
opendbc/nissan_leaf_2018.dbc
|
||||
opendbc/nissan_x_trail_2017_generated.dbc
|
||||
opendbc/nissan_leaf_2018_generated.dbc
|
||||
|
||||
opendbc/subaru_global_2017_generated.dbc
|
||||
opendbc/subaru_outback_2015_generated.dbc
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
<svg width="68" height="68" viewBox="0 0 68 68" fill="none" xmlns="http://www.w3.org/2000/svg">
|
||||
<path d="M34.0004 8.63599C21.8284 8.63599 10.7444 13.26 2.31243 20.808C1.56443 21.488 1.4964 22.644 2.1084 23.392L4.76041 26.452C5.44041 27.2 6.59641 27.268 7.34441 26.588C14.4164 20.196 23.7324 16.32 33.9324 16.32C44.1324 16.32 53.4484 20.196 60.5204 26.588C61.2684 27.268 62.4244 27.2 63.1044 26.452L65.7564 23.392C66.4364 22.644 66.3004 21.488 65.5524 20.808C57.2564 13.26 46.1724 8.63599 34.0004 8.63599Z" fill="#465BEA"/>
|
||||
<path d="M34.0004 22.032C25.1604 22.032 17.0684 25.432 11.0164 30.94C10.2684 31.62 10.2004 32.708 10.8804 33.456L13.3964 36.38C14.0764 37.196 15.2324 37.196 16.0484 36.516C20.8084 32.164 27.1324 29.512 34.0684 29.512C41.0044 29.512 47.3284 32.164 52.0884 36.516C52.8364 37.196 54.0604 37.196 54.7404 36.38L57.2564 33.456C57.8684 32.708 57.8684 31.552 57.1204 30.94C50.9324 25.364 42.8404 22.032 34.0004 22.032Z" fill="#465BEA"/>
|
||||
<path d="M34.0007 35.36C28.4247 35.36 23.3927 37.536 19.6527 41.14C18.9727 41.82 18.9047 42.908 19.5847 43.656L21.9647 46.444C22.6447 47.26 23.8687 47.26 24.6167 46.58C27.0647 44.2 30.3287 42.772 34.0007 42.772C37.6727 42.772 40.9367 44.2 43.3847 46.58C44.1327 47.328 45.3567 47.26 46.0367 46.444L48.4167 43.656C49.0287 42.908 49.0287 41.82 48.3487 41.14C44.6087 37.536 39.5767 35.36 34.0007 35.36Z" fill="#465BEA"/>
|
||||
<path d="M34.0005 48.688C31.7565 48.688 29.7165 49.708 28.3565 51.34C27.7445 52.02 27.7445 53.04 28.3565 53.72L32.6405 58.684C33.3885 59.5 34.6804 59.5 35.4284 58.684L39.7125 53.72C40.3245 53.04 40.3245 52.02 39.7125 51.34C38.2845 49.708 36.2445 48.688 34.0005 48.688Z" fill="#465BEA"/>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 1.6 KiB |
@@ -171,7 +171,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None:
|
||||
try:
|
||||
data = recv_queue.get(timeout=1)
|
||||
if "method" in data:
|
||||
cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}")
|
||||
cloudlog.event("athena.jsonrpc_handler.call_method", data=data)
|
||||
response = JSONRPCResponseManager.handle(data, dispatcher)
|
||||
send_queue.put_nowait(response.json)
|
||||
elif "id" in data and ("result" in data or "error" in data):
|
||||
|
||||
@@ -94,11 +94,12 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
|
||||
}
|
||||
}
|
||||
} 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. System: %s RTC: %s",
|
||||
get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
|
||||
LOGE("System time wrong, setting from RTC.");
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -473,6 +474,11 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
|
||||
bool is_onroad_last = false;
|
||||
std::future<bool> safety_future;
|
||||
|
||||
std::vector<std::string> connected_serials;
|
||||
for (Panda *p : pandas) {
|
||||
connected_serials.push_back(p->hw_serial());
|
||||
}
|
||||
|
||||
LOGD("start panda state thread");
|
||||
|
||||
// run at 2hz
|
||||
@@ -500,10 +506,15 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
|
||||
LOGE("Reconnecting, communication to pandas not healthy");
|
||||
do_exit = true;
|
||||
|
||||
// TODO: list is slow, takes 16ms
|
||||
} else if (pandas.size() != Panda::list().size()) {
|
||||
LOGW("Reconnecting to changed amount of pandas!");
|
||||
do_exit = true;
|
||||
} else {
|
||||
// check for new pandas
|
||||
for (std::string &s : Panda::list(true)) {
|
||||
if (!std::count(connected_serials.begin(), connected_serials.end(), s)) {
|
||||
LOGW("Reconnecting to new panda: %s", s.c_str());
|
||||
do_exit = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (do_exit) {
|
||||
|
||||
@@ -13,11 +13,11 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
|
||||
// try USB first, then SPI
|
||||
try {
|
||||
handle = std::make_unique<PandaUsbHandle>(serial);
|
||||
LOGW("conntected to %s over USB", serial.c_str());
|
||||
LOGW("connected to %s over USB", serial.c_str());
|
||||
} catch (std::exception &e) {
|
||||
#ifndef __APPLE__
|
||||
handle = std::make_unique<PandaSpiHandle>(serial);
|
||||
LOGW("conntected to %s over SPI", serial.c_str());
|
||||
LOGW("connected to %s over SPI", serial.c_str());
|
||||
#endif
|
||||
}
|
||||
|
||||
@@ -44,13 +44,15 @@ std::string Panda::hw_serial() {
|
||||
return handle->hw_serial;
|
||||
}
|
||||
|
||||
std::vector<std::string> Panda::list() {
|
||||
std::vector<std::string> Panda::list(bool usb_only) {
|
||||
std::vector<std::string> serials = PandaUsbHandle::list();
|
||||
|
||||
#ifndef __APPLE__
|
||||
for (auto s : PandaSpiHandle::list()) {
|
||||
if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
|
||||
serials.push_back(s);
|
||||
if (!usb_only) {
|
||||
for (auto s : PandaSpiHandle::list()) {
|
||||
if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
|
||||
serials.push_back(s);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
@@ -57,7 +57,7 @@ public:
|
||||
std::string hw_serial();
|
||||
|
||||
// Static functions
|
||||
static std::vector<std::string> list();
|
||||
static std::vector<std::string> list(bool usb_only=false);
|
||||
|
||||
// Panda functionality
|
||||
cereal::PandaState::PandaType get_hw_type();
|
||||
|
||||
@@ -74,9 +74,9 @@ private:
|
||||
uint8_t rx_buf[SPI_BUF_SIZE];
|
||||
inline static std::recursive_mutex hw_lock;
|
||||
|
||||
int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
|
||||
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len);
|
||||
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
|
||||
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
|
||||
int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout);
|
||||
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
|
||||
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
|
||||
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
|
||||
};
|
||||
#endif
|
||||
|
||||
@@ -7,16 +7,18 @@ import subprocess
|
||||
from typing import List, NoReturn
|
||||
from functools import cmp_to_key
|
||||
|
||||
from panda import Panda, PandaDFU
|
||||
from panda import Panda, PandaDFU, FW_PATH
|
||||
from common.basedir import BASEDIR
|
||||
from common.params import Params
|
||||
from selfdrive.boardd.set_time import set_time
|
||||
from system.hardware import HARDWARE
|
||||
from system.swaglog import cloudlog
|
||||
|
||||
|
||||
def get_expected_signature(panda: Panda) -> bytes:
|
||||
try:
|
||||
return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path)
|
||||
fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
|
||||
return Panda.get_signature_from_firmware(fn)
|
||||
except Exception:
|
||||
cloudlog.exception("Error computing expected signature")
|
||||
return b""
|
||||
@@ -132,6 +134,11 @@ def main() -> NoReturn:
|
||||
cloudlog.event("heartbeat lost", deviceState=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()
|
||||
|
||||
@@ -3,7 +3,7 @@ import os
|
||||
import datetime
|
||||
from panda import Panda
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2023, month=4, day=1)
|
||||
from common.time import MIN_DATE
|
||||
|
||||
def set_time(logger):
|
||||
sys_time = datetime.datetime.today()
|
||||
|
||||
+59
-35
@@ -22,6 +22,12 @@
|
||||
#define SPI_NACK 0x1FU
|
||||
#define SPI_CHECKSUM_START 0xABU
|
||||
|
||||
|
||||
enum SpiError {
|
||||
NACK = -2,
|
||||
ACK_TIMEOUT = -3,
|
||||
};
|
||||
|
||||
struct __attribute__((packed)) spi_header {
|
||||
uint8_t sync;
|
||||
uint8_t endpoint;
|
||||
@@ -29,8 +35,7 @@ struct __attribute__((packed)) spi_header {
|
||||
uint16_t max_rx_len;
|
||||
};
|
||||
|
||||
const int SPI_MAX_RETRIES = 5;
|
||||
const int SPI_ACK_TIMEOUT = 50; // milliseconds
|
||||
const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
|
||||
const std::string SPI_DEVICE = "/dev/spidev0.0";
|
||||
|
||||
class LockEx {
|
||||
@@ -41,8 +46,8 @@ public:
|
||||
};
|
||||
|
||||
~LockEx() {
|
||||
m.unlock();
|
||||
flock(fd, LOCK_UN);
|
||||
m.unlock();
|
||||
}
|
||||
|
||||
private:
|
||||
@@ -63,6 +68,10 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
|
||||
// revs of the comma three may not support this speed
|
||||
uint32_t spi_speed = 50000000;
|
||||
|
||||
if (!util::file_exists(SPI_DEVICE)) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
|
||||
if (spi_fd < 0) {
|
||||
LOGE("failed opening SPI device %d", spi_fd);
|
||||
@@ -89,7 +98,7 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
|
||||
}
|
||||
|
||||
// get hw UID/serial
|
||||
ret = control_read(0xc3, 0, 0, uid, uid_len);
|
||||
ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
|
||||
if (ret == uid_len) {
|
||||
std::stringstream stream;
|
||||
for (int i = 0; i < uid_len; i++) {
|
||||
@@ -127,37 +136,33 @@ void PandaSpiHandle::cleanup() {
|
||||
|
||||
|
||||
int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) {
|
||||
LockEx lock(spi_fd, hw_lock);
|
||||
ControlPacket_t packet = {
|
||||
.request = request,
|
||||
.param1 = param1,
|
||||
.param2 = param2,
|
||||
.length = 0
|
||||
};
|
||||
return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0);
|
||||
return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0, timeout);
|
||||
}
|
||||
|
||||
int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) {
|
||||
LockEx lock(spi_fd, hw_lock);
|
||||
ControlPacket_t packet = {
|
||||
.request = request,
|
||||
.param1 = param1,
|
||||
.param2 = param2,
|
||||
.length = length
|
||||
};
|
||||
return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length);
|
||||
return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length, timeout);
|
||||
}
|
||||
|
||||
int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
|
||||
LockEx lock(spi_fd, hw_lock);
|
||||
return bulk_transfer(endpoint, data, length, NULL, 0);
|
||||
return bulk_transfer(endpoint, data, length, NULL, 0, timeout);
|
||||
}
|
||||
int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
|
||||
LockEx lock(spi_fd, hw_lock);
|
||||
return bulk_transfer(endpoint, NULL, 0, data, length);
|
||||
return bulk_transfer(endpoint, NULL, 0, data, length, timeout);
|
||||
}
|
||||
|
||||
int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
|
||||
int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) {
|
||||
const int xfer_size = 0x40 * 15;
|
||||
|
||||
int ret = 0;
|
||||
@@ -166,16 +171,16 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
|
||||
int d;
|
||||
if (tx_data != NULL) {
|
||||
int len = std::min(xfer_size, tx_len - (xfer_size * i));
|
||||
d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0);
|
||||
d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0, timeout);
|
||||
} else {
|
||||
uint16_t to_read = std::min(xfer_size, rx_len - ret);
|
||||
d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read);
|
||||
d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read, timeout);
|
||||
}
|
||||
|
||||
if (d < 0) {
|
||||
LOGE("SPI: bulk transfer failed with %d", d);
|
||||
comms_healthy = false;
|
||||
return -1;
|
||||
return d;
|
||||
}
|
||||
|
||||
ret += d;
|
||||
@@ -213,21 +218,43 @@ bool check_checksum(uint8_t *data, int data_len) {
|
||||
}
|
||||
|
||||
|
||||
int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
|
||||
int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
|
||||
int ret;
|
||||
|
||||
int count = SPI_MAX_RETRIES;
|
||||
int count = 0;
|
||||
bool timed_out = false;
|
||||
double start_time = millis_since_boot();
|
||||
do {
|
||||
// TODO: handle error
|
||||
ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
|
||||
count--;
|
||||
} while (ret < 0 && connected && count > 0);
|
||||
ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout);
|
||||
|
||||
if (ret < 0) {
|
||||
timed_out = (timeout != 0) && (count > 5);
|
||||
count += ret == SpiError::ACK_TIMEOUT;
|
||||
std::this_thread::yield();
|
||||
}
|
||||
} while (ret < 0 && connected && !timed_out);
|
||||
|
||||
if (ret < 0) {
|
||||
LOGE("transfer failed, after %d tries, %.2fms", count, millis_since_boot() - start_time);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
|
||||
int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) {
|
||||
double start_millis = millis_since_boot();
|
||||
if (timeout == 0) {
|
||||
timeout = SPI_ACK_TIMEOUT;
|
||||
}
|
||||
timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT);
|
||||
|
||||
spi_ioc_transfer transfer = {
|
||||
.tx_buf = (uint64_t)tx_buf,
|
||||
.rx_buf = (uint64_t)rx_buf,
|
||||
.delay_usecs = 5,
|
||||
.len = 1
|
||||
};
|
||||
tx_buf[0] = tx;
|
||||
|
||||
while (true) {
|
||||
int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
|
||||
if (ret < 0) {
|
||||
@@ -238,23 +265,24 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
|
||||
if (rx_buf[0] == ack) {
|
||||
break;
|
||||
} else if (rx_buf[0] == SPI_NACK) {
|
||||
LOGW("SPI: got NACK");
|
||||
return -1;
|
||||
LOGD("SPI: got NACK");
|
||||
return SpiError::NACK;
|
||||
}
|
||||
|
||||
// handle timeout
|
||||
if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
|
||||
if (millis_since_boot() - start_millis > timeout) {
|
||||
LOGD("SPI: timed out waiting for ACK");
|
||||
return -1;
|
||||
return SpiError::ACK_TIMEOUT;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
|
||||
int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
|
||||
int ret;
|
||||
uint16_t rx_data_len;
|
||||
LockEx lock(spi_fd, hw_lock);
|
||||
|
||||
// needs to be less, since we need to have space for the checksum
|
||||
assert(tx_len < SPI_BUF_SIZE);
|
||||
@@ -283,9 +311,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
}
|
||||
|
||||
// Wait for (N)ACK
|
||||
tx_buf[0] = 0x11;
|
||||
transfer.len = 1;
|
||||
ret = wait_for_ack(transfer, SPI_HACK);
|
||||
ret = wait_for_ack(SPI_HACK, 0x11, timeout);
|
||||
if (ret < 0) {
|
||||
goto transfer_fail;
|
||||
}
|
||||
@@ -303,9 +329,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
}
|
||||
|
||||
// Wait for (N)ACK
|
||||
tx_buf[0] = 0x13;
|
||||
transfer.len = 1;
|
||||
ret = wait_for_ack(transfer, SPI_DACK);
|
||||
ret = wait_for_ack(SPI_DACK, 0x13, timeout);
|
||||
if (ret < 0) {
|
||||
goto transfer_fail;
|
||||
}
|
||||
|
||||
Executable
BIN
Binary file not shown.
Executable
BIN
Binary file not shown.
@@ -1,9 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import copy
|
||||
import random
|
||||
import time
|
||||
import unittest
|
||||
from collections import defaultdict
|
||||
from pprint import pprint
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car, log
|
||||
@@ -59,16 +61,18 @@ class TestBoardd(unittest.TestCase):
|
||||
|
||||
sendcan = messaging.pub_sock('sendcan')
|
||||
can = messaging.sub_sock('can', conflate=False, timeout=100)
|
||||
sm = messaging.SubMaster(['pandaStates'])
|
||||
time.sleep(0.5)
|
||||
|
||||
n = 200
|
||||
for i in range(n):
|
||||
print(f"boardd loopback {i}/{n}")
|
||||
self.spinner.update(f"boardd loopback {i}/{n}")
|
||||
|
||||
sent_msgs = defaultdict(set)
|
||||
for _ in range(random.randrange(10)):
|
||||
for _ in range(random.randrange(20, 100)):
|
||||
to_send = []
|
||||
for __ in range(random.randrange(100)):
|
||||
for __ in range(random.randrange(20)):
|
||||
bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
|
||||
addr = random.randrange(1, 1<<29)
|
||||
dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
|
||||
@@ -76,21 +80,29 @@ class TestBoardd(unittest.TestCase):
|
||||
to_send.append(make_can_msg(addr, dat, bus))
|
||||
sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
|
||||
|
||||
for _ in range(100 * 2):
|
||||
sent_loopback = copy.deepcopy(sent_msgs)
|
||||
sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
|
||||
sent_total = {k: len(v) for k, v in sent_loopback.items()}
|
||||
for _ in range(100 * 5):
|
||||
sm.update(0)
|
||||
recvd = messaging.drain_sock(can, wait_for_one=True)
|
||||
for msg in recvd:
|
||||
for m in msg.can:
|
||||
if m.src >= 128:
|
||||
key = (m.address, m.dat)
|
||||
assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
|
||||
sent_msgs[m.src-128].discard(key)
|
||||
key = (m.address, m.dat)
|
||||
assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
|
||||
sent_loopback[m.src].discard(key)
|
||||
|
||||
if all(len(v) == 0 for v in sent_msgs.values()):
|
||||
if all(len(v) == 0 for v in sent_loopback.values()):
|
||||
break
|
||||
|
||||
# if a set isn't empty, messages got dropped
|
||||
for bus in sent_msgs.keys():
|
||||
assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
|
||||
pprint(sent_msgs)
|
||||
pprint(sent_loopback)
|
||||
print({k: len(x) for k, x in sent_loopback.items()})
|
||||
print(sum([len(x) for x in sent_loopback.values()]))
|
||||
pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow
|
||||
for bus in sent_loopback.keys():
|
||||
assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -1,16 +1,19 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import unittest
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
from common.gpio import gpio_set, gpio_init
|
||||
from panda import Panda
|
||||
from panda import Panda, PandaDFU
|
||||
from selfdrive.test.helpers import phone_only
|
||||
from selfdrive.manager.process_config import managed_processes
|
||||
from system.hardware import HARDWARE
|
||||
from system.hardware.tici.pins import GPIO
|
||||
|
||||
HERE = os.path.dirname(os.path.realpath(__file__))
|
||||
|
||||
|
||||
class TestPandad(unittest.TestCase):
|
||||
|
||||
@@ -27,11 +30,13 @@ class TestPandad(unittest.TestCase):
|
||||
if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
|
||||
raise Exception("boardd failed to start")
|
||||
|
||||
def _go_to_dfu(self):
|
||||
HARDWARE.recover_internal_panda()
|
||||
assert Panda.wait_for_dfu(None, 10)
|
||||
|
||||
@phone_only
|
||||
def test_in_dfu(self):
|
||||
HARDWARE.recover_internal_panda()
|
||||
time.sleep(1)
|
||||
|
||||
managed_processes['pandad'].start()
|
||||
self._wait_for_boardd(60)
|
||||
|
||||
@@ -66,9 +71,25 @@ class TestPandad(unittest.TestCase):
|
||||
managed_processes['pandad'].start()
|
||||
self._wait_for_boardd(8)
|
||||
|
||||
@phone_only
|
||||
def test_release_to_devel_bootstub(self):
|
||||
if HARDWARE.get_device_type() != 'tici':
|
||||
self.skipTest("TODO: fix reset timeout")
|
||||
|
||||
#def test_out_of_date_fw(self):
|
||||
# pass
|
||||
# flash release bootstub
|
||||
self._go_to_dfu()
|
||||
pd = PandaDFU(None)
|
||||
fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
|
||||
with open(fn, "rb") as f:
|
||||
pd.program_bootstub(f.read())
|
||||
pd.reset()
|
||||
|
||||
assert Panda.wait_for_panda(None, 20)
|
||||
with Panda() as p:
|
||||
assert p.bootstub
|
||||
|
||||
managed_processes['pandad'].start()
|
||||
self._wait_for_boardd(60)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
|
||||
{% set star_icon = '[](##)' %}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
|
||||
{# Force harness column wider by using a blank image with max width. #}
|
||||
{# Force hardware column wider by using a blank image with max width. #}
|
||||
{% set width_tag = '<a href="##"><img width=2000></a>%s<br> ' %}
|
||||
{% set harness_col_name = 'Harness Kit' %}
|
||||
{% set wide_harness_col_name = width_tag|format(harness_col_name) -%}
|
||||
{% set hardware_col_name = 'Hardware Needed' %}
|
||||
{% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%}
|
||||
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
@@ -14,14 +14,14 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|
||||
# {{all_car_info | length}} Supported Cars
|
||||
|
||||
|{{Column | map(attribute='value') | join('|') | replace(harness_col_name, wide_harness_col_name)}}|
|
||||
|{{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 %}
|
||||
|
||||
{% endfor %}
|
||||
|
||||
<a id="footnotes"></a>
|
||||
### Footnotes
|
||||
{% for footnote in footnotes %}
|
||||
<sup>{{loop.index}}</sup>{{footnote}} <br />
|
||||
{% endfor %}
|
||||
|
||||
@@ -1,10 +1,13 @@
|
||||
# functions common among cars
|
||||
import capnp
|
||||
import math
|
||||
from collections import namedtuple
|
||||
from typing import Dict, Optional
|
||||
|
||||
import capnp
|
||||
|
||||
from cereal import car
|
||||
from common.numpy_fast import clip, interp
|
||||
from typing import Dict
|
||||
|
||||
|
||||
# kg of standard extra cargo to count for drive, gas, etc...
|
||||
STD_CARGO_KG = 136.
|
||||
@@ -181,3 +184,15 @@ def get_safety_config(safety_model, safety_param = None):
|
||||
if safety_param is not None:
|
||||
ret.safetyParam = safety_param
|
||||
return ret
|
||||
|
||||
|
||||
class CanBusBase:
|
||||
offset: int
|
||||
|
||||
def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
|
||||
if CP is None:
|
||||
assert fingerprint is not None
|
||||
num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
|
||||
else:
|
||||
num = len(CP.safetyConfigs)
|
||||
self.offset = 4 * (num - 1)
|
||||
|
||||
@@ -40,7 +40,7 @@ class CarController:
|
||||
torque_l = 0
|
||||
torque_r = 0
|
||||
|
||||
llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0
|
||||
llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
|
||||
if CC.enabled and llk_valid:
|
||||
# Read these from the joystick
|
||||
# TODO: this isn't acceleration, okay?
|
||||
|
||||
@@ -5,7 +5,7 @@ from typing import Dict, List, Optional, Union
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -69,7 +69,7 @@ RAM_CARS = RAM_DT | RAM_HD
|
||||
@dataclass
|
||||
class ChryslerCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.fca)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.fca])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
@@ -83,10 +83,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
],
|
||||
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
|
||||
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
|
||||
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness_kit=HarnessKit(Harness.ram)),
|
||||
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
|
||||
CAR.RAM_HD: [
|
||||
ChryslerCarInfo("Ram 2500 2020-22", harness_kit=HarnessKit(Harness.ram)),
|
||||
ChryslerCarInfo("Ram 3500 2019-22", harness_kit=HarnessKit(Harness.ram)),
|
||||
ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])),
|
||||
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
|
||||
],
|
||||
}
|
||||
|
||||
@@ -233,9 +233,11 @@ FW_VERSIONS = {
|
||||
b'68453511AC',
|
||||
b'68453513AD',
|
||||
b'68453514AD',
|
||||
b'68510280AG',
|
||||
b'68510283AG',
|
||||
b'68527375AD',
|
||||
b'68527346AE',
|
||||
b'68527375AD',
|
||||
b'68527382AE',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68428609AB',
|
||||
@@ -244,6 +246,7 @@ FW_VERSIONS = {
|
||||
b'68490898AA',
|
||||
b'68500728AA',
|
||||
b'68615033AA',
|
||||
b'68615034AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68292406AH',
|
||||
@@ -257,12 +260,13 @@ FW_VERSIONS = {
|
||||
b'68438456AF',
|
||||
b'68535469AB',
|
||||
b'68535470AC',
|
||||
b'68586307AB',
|
||||
b'68548900AB',
|
||||
b'68586307AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672892AB',
|
||||
b'04672932AB',
|
||||
b'22DTRHD_AA',
|
||||
b'68320950AH',
|
||||
b'68320950AI',
|
||||
b'68320950AJ',
|
||||
@@ -274,8 +278,10 @@ FW_VERSIONS = {
|
||||
b'68475160AG',
|
||||
],
|
||||
(Ecu.eps, 0x75A, None): [
|
||||
b'21590101AA',
|
||||
b'68273275AF',
|
||||
b'68273275AG',
|
||||
b'68273275AH',
|
||||
b'68312176AE',
|
||||
b'68312176AG',
|
||||
b'68440789AC',
|
||||
@@ -284,23 +290,28 @@ FW_VERSIONS = {
|
||||
b'68522583AB',
|
||||
b'68522585AB',
|
||||
b'68552788AA',
|
||||
b'68552790AA',
|
||||
b'68585112AB',
|
||||
b'68552789AA',
|
||||
b'68552790AA',
|
||||
b'68585109AB',
|
||||
b'68585112AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05036065AE ',
|
||||
b'05036066AE ',
|
||||
b'05149591AD ',
|
||||
b'05149846AA ',
|
||||
b'05149848AA ',
|
||||
b'68378701AI ',
|
||||
b'68378748AL ',
|
||||
b'68378758AM ',
|
||||
b'68448163AJ',
|
||||
b'68448165AK',
|
||||
b'68500630AD',
|
||||
b'68500630AE',
|
||||
b'68539650AD',
|
||||
b'05149846AA ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05149536AC',
|
||||
b'68360078AL',
|
||||
b'68360080AM',
|
||||
b'68360081AM',
|
||||
@@ -310,8 +321,8 @@ FW_VERSIONS = {
|
||||
b'68445533AB',
|
||||
b'68484467AC',
|
||||
b'68502994AD',
|
||||
b'68540431AB',
|
||||
b'68520867AE',
|
||||
b'68540431AB',
|
||||
],
|
||||
},
|
||||
|
||||
@@ -323,6 +334,7 @@ FW_VERSIONS = {
|
||||
b'68525485AB',
|
||||
b'68525487AB',
|
||||
b'68525498AB',
|
||||
b'68528791AF',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68399794AC',
|
||||
@@ -338,9 +350,11 @@ FW_VERSIONS = {
|
||||
b'68504022AC',
|
||||
b'68530686AB',
|
||||
b'68530686AC',
|
||||
b'68544596AC',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672895AB',
|
||||
b'04672934AB',
|
||||
b'56029827AG',
|
||||
b'56029827AH',
|
||||
b'68462657AE',
|
||||
@@ -350,6 +364,7 @@ FW_VERSIONS = {
|
||||
(Ecu.eps, 0x761, None): [
|
||||
b'68421036AC',
|
||||
b'68507906AB',
|
||||
b'68534023AC',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'52370131AF',
|
||||
@@ -358,6 +373,7 @@ FW_VERSIONS = {
|
||||
b'52370931CT',
|
||||
b'52401032AE',
|
||||
b'52421132AF',
|
||||
b'52421332AF',
|
||||
b'68527616AD ',
|
||||
b'M2370131MB',
|
||||
b'M2421132MB',
|
||||
|
||||
@@ -10,7 +10,7 @@ from typing import Dict, List
|
||||
from cereal import car
|
||||
from common.basedir import BASEDIR
|
||||
from selfdrive.car import gen_empty_fingerprint
|
||||
from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote
|
||||
from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
|
||||
from selfdrive.car.car_helpers import interfaces, get_interface_attr
|
||||
|
||||
|
||||
@@ -61,8 +61,9 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
|
||||
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, group_by_make=group_by_make,
|
||||
footnotes=footnotes, Column=Column)
|
||||
cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
|
||||
group_by_make=group_by_make, footnotes=footnotes,
|
||||
Column=Column)
|
||||
return cars_md
|
||||
|
||||
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
import re
|
||||
from collections import namedtuple
|
||||
import copy
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Optional, Tuple, Union
|
||||
@@ -21,7 +20,7 @@ class Column(Enum):
|
||||
FSR_STEERING = "No ALC below"
|
||||
STEERING_TORQUE = "Steering Torque"
|
||||
AUTO_RESUME = "Resume from stop"
|
||||
HARNESS = "Harness Kit"
|
||||
HARDWARE = "Hardware Needed"
|
||||
VIDEO = "Video"
|
||||
|
||||
|
||||
@@ -31,60 +30,130 @@ class Star(Enum):
|
||||
EMPTY = "empty"
|
||||
|
||||
|
||||
class Harness(Enum):
|
||||
nidec = "Honda Nidec"
|
||||
bosch_a = "Honda Bosch A"
|
||||
bosch_b = "Honda Bosch B"
|
||||
toyota = "Toyota"
|
||||
subaru_a = "Subaru A"
|
||||
subaru_b = "Subaru B"
|
||||
fca = "FCA"
|
||||
ram = "Ram"
|
||||
vw = "VW"
|
||||
j533 = "J533"
|
||||
hyundai_a = "Hyundai A"
|
||||
hyundai_b = "Hyundai B"
|
||||
hyundai_c = "Hyundai C"
|
||||
hyundai_d = "Hyundai D"
|
||||
hyundai_e = "Hyundai E"
|
||||
hyundai_f = "Hyundai F"
|
||||
hyundai_g = "Hyundai G"
|
||||
hyundai_h = "Hyundai H"
|
||||
hyundai_i = "Hyundai I"
|
||||
hyundai_j = "Hyundai J"
|
||||
hyundai_k = "Hyundai K"
|
||||
hyundai_l = "Hyundai L"
|
||||
hyundai_m = "Hyundai M"
|
||||
hyundai_n = "Hyundai N"
|
||||
hyundai_o = "Hyundai O"
|
||||
hyundai_p = "Hyundai P"
|
||||
hyundai_q = "Hyundai Q"
|
||||
custom = "Developer"
|
||||
obd_ii = "OBD-II"
|
||||
gm = "GM"
|
||||
nissan_a = "Nissan A"
|
||||
nissan_b = "Nissan B"
|
||||
mazda = "Mazda"
|
||||
ford_q3 = "Ford Q3"
|
||||
ford_q4 = "Ford Q4"
|
||||
none = "None"
|
||||
# A part + its comprised parts
|
||||
@dataclass
|
||||
class BasePart:
|
||||
name: str
|
||||
parts: List[Enum] = field(default_factory=list)
|
||||
|
||||
def all_parts(self):
|
||||
# Recursively get all parts
|
||||
_parts = 'parts'
|
||||
parts = []
|
||||
parts.extend(getattr(self, _parts))
|
||||
for part in getattr(self, _parts):
|
||||
parts.extend(part.value.all_parts())
|
||||
|
||||
return parts
|
||||
|
||||
|
||||
class HarnessPart(Enum):
|
||||
harness_box = "harness box"
|
||||
comma_power_v2 = "comma power v2"
|
||||
rj45_cable = "RJ45 cable (7 ft)"
|
||||
long_obdc_cable = "long OBD-C cable"
|
||||
usbc_coupler = "USB-C coupler"
|
||||
class EnumBase(Enum):
|
||||
@property
|
||||
def type(self):
|
||||
return PartType(self.__class__)
|
||||
|
||||
|
||||
DEFAULT_HARNESS_PARTS: List[HarnessPart] = [HarnessPart.harness_box, HarnessPart.comma_power_v2, HarnessPart.rj45_cable]
|
||||
class Mount(EnumBase):
|
||||
mount = BasePart("mount")
|
||||
angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
|
||||
|
||||
|
||||
class Cable(EnumBase):
|
||||
rj45_cable_7ft = BasePart("RJ45 cable (7 ft)")
|
||||
long_obdc_cable = BasePart("long OBD-C cable")
|
||||
usb_a_2_a_cable = BasePart("USB A-A cable")
|
||||
usbc_otg_cable = BasePart("USB C OTG cable")
|
||||
usbc_coupler = BasePart("USB-C coupler")
|
||||
obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
|
||||
right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
|
||||
|
||||
|
||||
class Accessory(EnumBase):
|
||||
harness_box = BasePart("harness box")
|
||||
comma_power_v2 = BasePart("comma power v2")
|
||||
|
||||
|
||||
@dataclass
|
||||
class HarnessKit:
|
||||
connector: Harness = Harness.none
|
||||
parts: List[HarnessPart] = field(default_factory=lambda: copy.copy(DEFAULT_HARNESS_PARTS))
|
||||
class BaseCarHarness(BasePart):
|
||||
parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
|
||||
has_connector: bool = True # without are hidden on the harness connector page
|
||||
|
||||
|
||||
class CarHarness(EnumBase):
|
||||
nidec = BaseCarHarness("Honda Nidec connector")
|
||||
bosch_a = BaseCarHarness("Honda Bosch A connector")
|
||||
bosch_b = BaseCarHarness("Honda Bosch B connector")
|
||||
toyota = BaseCarHarness("Toyota connector")
|
||||
subaru_a = BaseCarHarness("Subaru A connector")
|
||||
subaru_b = BaseCarHarness("Subaru B connector")
|
||||
fca = BaseCarHarness("FCA connector")
|
||||
ram = BaseCarHarness("Ram connector")
|
||||
vw = BaseCarHarness("VW connector")
|
||||
j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
hyundai_a = BaseCarHarness("Hyundai A connector")
|
||||
hyundai_b = BaseCarHarness("Hyundai B connector")
|
||||
hyundai_c = BaseCarHarness("Hyundai C connector")
|
||||
hyundai_d = BaseCarHarness("Hyundai D connector")
|
||||
hyundai_e = BaseCarHarness("Hyundai E connector")
|
||||
hyundai_f = BaseCarHarness("Hyundai F connector")
|
||||
hyundai_g = BaseCarHarness("Hyundai G connector")
|
||||
hyundai_h = BaseCarHarness("Hyundai H connector")
|
||||
hyundai_i = BaseCarHarness("Hyundai I connector")
|
||||
hyundai_j = BaseCarHarness("Hyundai J connector")
|
||||
hyundai_k = BaseCarHarness("Hyundai K connector")
|
||||
hyundai_l = BaseCarHarness("Hyundai L connector")
|
||||
hyundai_m = BaseCarHarness("Hyundai M connector")
|
||||
hyundai_n = BaseCarHarness("Hyundai N connector")
|
||||
hyundai_o = BaseCarHarness("Hyundai O connector")
|
||||
hyundai_p = BaseCarHarness("Hyundai P connector")
|
||||
hyundai_q = BaseCarHarness("Hyundai Q connector")
|
||||
custom = BaseCarHarness("Developer connector")
|
||||
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
|
||||
gm = BaseCarHarness("GM connector")
|
||||
nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
mazda = BaseCarHarness("Mazda connector")
|
||||
ford_q3 = BaseCarHarness("Ford Q3 connector")
|
||||
ford_q4 = BaseCarHarness("Ford Q4 connector")
|
||||
|
||||
|
||||
class Device(EnumBase):
|
||||
three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
|
||||
# variant of comma three with angled mounts
|
||||
three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
|
||||
red_panda = BasePart("red panda")
|
||||
|
||||
|
||||
class Kit(EnumBase):
|
||||
red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
|
||||
|
||||
|
||||
class PartType(Enum):
|
||||
accessory = Accessory
|
||||
cable = Cable
|
||||
connector = CarHarness
|
||||
device = Device
|
||||
kit = Kit
|
||||
mount = Mount
|
||||
|
||||
|
||||
DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
|
||||
|
||||
|
||||
@dataclass
|
||||
class CarParts:
|
||||
parts: List[EnumBase] = field(default_factory=list)
|
||||
|
||||
@classmethod
|
||||
def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None):
|
||||
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
|
||||
return cls(p)
|
||||
|
||||
def all_parts(self):
|
||||
parts = []
|
||||
for part in self.parts:
|
||||
parts.extend(part.value.all_parts())
|
||||
return self.parts + parts
|
||||
|
||||
|
||||
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
|
||||
@@ -153,9 +222,10 @@ class CarInfo:
|
||||
footnotes: List[Enum] = field(default_factory=list)
|
||||
min_steer_speed: Optional[float] = None
|
||||
min_enable_speed: Optional[float] = None
|
||||
auto_resume: Optional[bool] = None
|
||||
|
||||
# harness connectors + all the parts needed
|
||||
harness_kit: HarnessKit = HarnessKit()
|
||||
# all the parts needed for the supported car
|
||||
car_parts: CarParts = CarParts()
|
||||
|
||||
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
|
||||
self.car_name = CP.carName
|
||||
@@ -184,13 +254,17 @@ class CarInfo:
|
||||
if self.min_enable_speed is None:
|
||||
self.min_enable_speed = CP.minEnableSpeed
|
||||
|
||||
# harness column
|
||||
harness_col = self.harness_kit.connector.value
|
||||
if self.harness_kit.connector is not Harness.none:
|
||||
if self.auto_resume is None:
|
||||
self.auto_resume = CP.autoResumeSng
|
||||
|
||||
# hardware column
|
||||
hardware_col = "None"
|
||||
if self.car_parts.parts:
|
||||
model_years = self.model + (' ' + self.years if self.years else '')
|
||||
harness_connector = f'- 1 <a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col} connector</a>'
|
||||
harness_parts = '<br>'.join([f"- {self.harness_kit.parts.count(part)} {part.value}" for part in sorted(set(self.harness_kit.parts), key=lambda part: part.value)])
|
||||
harness_col = f'<details><summary>View</summary><sub>{harness_connector}<br>{harness_parts}</sub></details>'
|
||||
buy_link = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">Buy Here</a>'
|
||||
car_parts_docs = self.car_parts.all_parts()
|
||||
parts = '<br>'.join([f"- {car_parts_docs.count(part)} {part.value.name}" for part in sorted(set(car_parts_docs), key=lambda part: str(part.value.name))])
|
||||
hardware_col = f'<details><summary>View</summary><sub>{parts}<br>{buy_link}</sub></details>'
|
||||
|
||||
self.row: Dict[Enum, Union[str, Star]] = {
|
||||
Column.MAKE: self.make,
|
||||
@@ -200,8 +274,8 @@ class CarInfo:
|
||||
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
|
||||
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
|
||||
Column.STEERING_TORQUE: Star.EMPTY,
|
||||
Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
|
||||
Column.HARNESS: harness_col,
|
||||
Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY,
|
||||
Column.HARDWARE: hardware_col,
|
||||
Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column
|
||||
}
|
||||
|
||||
@@ -232,7 +306,7 @@ class CarInfo:
|
||||
acc = ""
|
||||
if self.min_enable_speed > 0:
|
||||
acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
|
||||
elif CP.autoResumeSng:
|
||||
elif self.auto_resume:
|
||||
acc = " <strong>that automatically resumes from a stop</strong>"
|
||||
|
||||
if self.row[Column.STEERING_TORQUE] != Star.FULL:
|
||||
|
||||
@@ -2,9 +2,9 @@ from cereal import car
|
||||
from common.numpy_fast import clip
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_angle_limits
|
||||
from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
|
||||
create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
|
||||
from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
|
||||
from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
|
||||
create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
|
||||
from selfdrive.car.ford.values import CANFD_CARS, CarControllerParams
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
@@ -27,6 +27,7 @@ class CarController:
|
||||
self.CP = CP
|
||||
self.VM = VM
|
||||
self.packer = CANPacker(dbc_name)
|
||||
self.CAN = CanBus(CP)
|
||||
self.frame = 0
|
||||
|
||||
self.apply_curvature_last = 0
|
||||
@@ -45,15 +46,15 @@ class CarController:
|
||||
|
||||
### acc buttons ###
|
||||
if CC.cruiseControl.cancel:
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True))
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
|
||||
elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True))
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
|
||||
# if stock lane centering isn't off, send a button press to toggle it off
|
||||
# the stock system checks for steering pressed, and eventually disengages cruise control
|
||||
elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
|
||||
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
|
||||
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
|
||||
|
||||
### lateral control ###
|
||||
# send steer msg at 20Hz
|
||||
@@ -70,14 +71,14 @@ class CarController:
|
||||
if self.CP.carFingerprint in CANFD_CARS:
|
||||
# TODO: extended mode
|
||||
mode = 1 if CC.latActive else 0
|
||||
counter = self.frame // CarControllerParams.STEER_STEP
|
||||
can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
|
||||
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
|
||||
can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
|
||||
else:
|
||||
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
|
||||
can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
|
||||
|
||||
# send lka msg at 33Hz
|
||||
if (self.frame % CarControllerParams.LKA_STEP) == 0:
|
||||
can_sends.append(create_lka_msg(self.packer))
|
||||
can_sends.append(create_lka_msg(self.packer, self.CAN))
|
||||
|
||||
### longitudinal control ###
|
||||
# send acc msg at 50Hz
|
||||
@@ -89,16 +90,16 @@ class CarController:
|
||||
gas = CarControllerParams.INACTIVE_GAS
|
||||
|
||||
stopping = CC.actuators.longControlState == LongCtrlState.stopping
|
||||
can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping))
|
||||
can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
|
||||
|
||||
### ui ###
|
||||
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
|
||||
# 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(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
|
||||
can_sends.append(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 (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
|
||||
can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive,
|
||||
can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
|
||||
CS.out.cruiseState.standstill, hud_control,
|
||||
CS.acc_tja_status_stock_values))
|
||||
|
||||
|
||||
@@ -3,7 +3,8 @@ from common.conversions import Conversions as CV
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams
|
||||
from selfdrive.car.ford.fordcan import CanBus
|
||||
from selfdrive.car.ford.values import DBC, CarControllerParams
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
@@ -211,7 +212,7 @@ class CarState(CarStateBase):
|
||||
("Side_Detect_R_Stat", 5),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main)
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).main)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
@@ -268,4 +269,4 @@ class CarState(CarStateBase):
|
||||
("IPMA_Data", 1),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera)
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).camera)
|
||||
|
||||
@@ -1,9 +1,26 @@
|
||||
from cereal import car
|
||||
from selfdrive.car.ford.values import CANBUS
|
||||
from selfdrive.car import CanBusBase
|
||||
|
||||
HUDControl = car.CarControl.HUDControl
|
||||
|
||||
|
||||
class CanBus(CanBusBase):
|
||||
def __init__(self, CP=None, fingerprint=None) -> None:
|
||||
super().__init__(CP, fingerprint)
|
||||
|
||||
@property
|
||||
def main(self) -> int:
|
||||
return self.offset
|
||||
|
||||
@property
|
||||
def radar(self):
|
||||
return self.offset + 1
|
||||
|
||||
@property
|
||||
def camera(self):
|
||||
return self.offset + 2
|
||||
|
||||
|
||||
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
|
||||
curvature = (dat[2] << 3) | ((dat[3]) >> 5)
|
||||
curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
|
||||
@@ -17,7 +34,7 @@ def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
|
||||
return 0xFF - (checksum & 0xFF)
|
||||
|
||||
|
||||
def create_lka_msg(packer):
|
||||
def create_lka_msg(packer, CAN: CanBus):
|
||||
"""
|
||||
Creates an empty CAN message for the Ford LKA Command.
|
||||
|
||||
@@ -26,10 +43,10 @@ def create_lka_msg(packer):
|
||||
Frequency is 33Hz.
|
||||
"""
|
||||
|
||||
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
|
||||
return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
|
||||
|
||||
|
||||
def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
|
||||
def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
|
||||
curvature_rate: float):
|
||||
"""
|
||||
Creates a CAN message for the Ford TJA/LCA Command.
|
||||
@@ -66,10 +83,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle:
|
||||
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2
|
||||
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
|
||||
}
|
||||
return packer.make_can_msg("LateralMotionControl", CANBUS.main, values)
|
||||
return packer.make_can_msg("LateralMotionControl", CAN.main, values)
|
||||
|
||||
|
||||
def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float,
|
||||
def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
|
||||
curvature_rate: float, counter: int):
|
||||
"""
|
||||
Create a CAN message for the new Ford Lane Centering command.
|
||||
@@ -95,13 +112,13 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
|
||||
}
|
||||
|
||||
# calculate checksum
|
||||
dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2]
|
||||
dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
|
||||
values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
|
||||
|
||||
return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
|
||||
return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
|
||||
|
||||
|
||||
def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool):
|
||||
def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool):
|
||||
"""
|
||||
Creates a CAN message for the Ford ACC Command.
|
||||
|
||||
@@ -122,10 +139,10 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping
|
||||
"AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active
|
||||
"AccStopStat_B_Rq": 1 if stopping else 0,
|
||||
}
|
||||
return packer.make_can_msg("ACCDATA", CANBUS.main, values)
|
||||
return packer.make_can_msg("ACCDATA", CAN.main, values)
|
||||
|
||||
|
||||
def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
|
||||
def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
|
||||
stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
|
||||
@@ -197,10 +214,11 @@ def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool
|
||||
"AccTGap_D_Dsply": 4, # Fixed time gap in UI
|
||||
})
|
||||
|
||||
return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
|
||||
return packer.make_can_msg("ACCDATA_3", CAN.main, values)
|
||||
|
||||
|
||||
def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
|
||||
def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
|
||||
stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC IPMA/LKAS status.
|
||||
|
||||
@@ -263,11 +281,10 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
|
||||
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31]
|
||||
"LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
|
||||
})
|
||||
return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
|
||||
return packer.make_can_msg("IPMA_Data", CAN.main, values)
|
||||
|
||||
|
||||
def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
|
||||
bus: int = CANBUS.camera):
|
||||
def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
|
||||
"""
|
||||
Creates a CAN message for the Ford SCCM buttons/switches.
|
||||
|
||||
|
||||
@@ -1,7 +1,9 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.ford.fordcan import CanBus
|
||||
from selfdrive.car.ford.values import CAR, Ecu
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
@@ -13,7 +15,6 @@ class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
||||
ret.carName = "ford"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
|
||||
|
||||
# These cars are dashcam only for lack of test coverage.
|
||||
# Once a user confirms each car works and a test route is
|
||||
@@ -25,6 +26,17 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.steerLimitTimer = 1.0
|
||||
|
||||
CAN = CanBus(fingerprint=fingerprint)
|
||||
cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
|
||||
if CAN.main >= 4:
|
||||
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
|
||||
ret.safetyConfigs = cfgs
|
||||
|
||||
ret.experimentalLongitudinalAvailable = True
|
||||
if experimental_long:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
|
||||
ret.openpilotLongitudinalControl = True
|
||||
|
||||
if candidate == CAR.BRONCO_SPORT_MK1:
|
||||
ret.wheelbase = 2.67
|
||||
ret.steerRatio = 17.7
|
||||
@@ -55,7 +67,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
|
||||
found_ecus = [fw.ecu for fw in car_fw]
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs:
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.manual
|
||||
@@ -63,7 +75,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
|
||||
# TODO: detect bsm in car_fw?
|
||||
ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0]
|
||||
ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
|
||||
|
||||
# LCA can steer down to zero
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
@@ -3,7 +3,8 @@ from math import cos, sin
|
||||
from cereal import car
|
||||
from opendbc.can.parser import CANParser
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car.ford.values import CANBUS, DBC, RADAR
|
||||
from selfdrive.car.ford.fordcan import CanBus
|
||||
from selfdrive.car.ford.values import DBC, RADAR
|
||||
from selfdrive.car.interfaces import RadarInterfaceBase
|
||||
|
||||
DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
|
||||
@@ -12,16 +13,16 @@ DELPHI_MRR_RADAR_START_ADDR = 0x120
|
||||
DELPHI_MRR_RADAR_MSG_COUNT = 64
|
||||
|
||||
|
||||
def _create_delphi_esr_radar_can_parser():
|
||||
def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
|
||||
msg_n = len(DELPHI_ESR_RADAR_MSGS)
|
||||
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
|
||||
DELPHI_ESR_RADAR_MSGS * 3))
|
||||
checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
|
||||
|
||||
return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar)
|
||||
return CANParser(RADAR.DELPHI_ESR, signals, checks, CanBus(CP).radar)
|
||||
|
||||
|
||||
def _create_delphi_mrr_radar_can_parser():
|
||||
def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
|
||||
signals = []
|
||||
checks = []
|
||||
|
||||
@@ -37,7 +38,7 @@ def _create_delphi_mrr_radar_can_parser():
|
||||
]
|
||||
checks += [(msg, 20)]
|
||||
|
||||
return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar)
|
||||
return CANParser(RADAR.DELPHI_MRR, signals, checks, CanBus(CP).radar)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
@@ -50,11 +51,11 @@ class RadarInterface(RadarInterfaceBase):
|
||||
if self.radar is None or CP.radarUnavailable:
|
||||
self.rcp = None
|
||||
elif self.radar == RADAR.DELPHI_ESR:
|
||||
self.rcp = _create_delphi_esr_radar_can_parser()
|
||||
self.rcp = _create_delphi_esr_radar_can_parser(CP)
|
||||
self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
|
||||
self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
|
||||
elif self.radar == RADAR.DELPHI_MRR:
|
||||
self.rcp = _create_delphi_mrr_radar_can_parser()
|
||||
self.rcp = _create_delphi_mrr_radar_can_parser(CP)
|
||||
self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
|
||||
else:
|
||||
raise ValueError(f"Unsupported radar: {self.radar}")
|
||||
|
||||
@@ -4,7 +4,7 @@ from typing import Dict, List, Set, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -29,8 +29,8 @@ class CarControllerParams:
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
|
||||
CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
|
||||
|
||||
ACCEL_MAX = 2.0 # m/s^s max acceleration
|
||||
ACCEL_MIN = -3.5 # m/s^s max deceleration
|
||||
ACCEL_MAX = 2.0 # m/s^2 max acceleration
|
||||
ACCEL_MIN = -3.5 # m/s^2 max deceleration
|
||||
MIN_GAS = -0.5
|
||||
INACTIVE_GAS = -5.0
|
||||
|
||||
@@ -38,12 +38,6 @@ class CarControllerParams:
|
||||
pass
|
||||
|
||||
|
||||
class CANBUS:
|
||||
main = 0
|
||||
radar = 1
|
||||
camera = 2
|
||||
|
||||
|
||||
class CAR:
|
||||
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
|
||||
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
|
||||
@@ -66,7 +60,11 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base
|
||||
@dataclass
|
||||
class FordCarInfo(CarInfo):
|
||||
package: str = "Co-Pilot360 Assist+"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.ford_q3)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.ford_q3])
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
|
||||
self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
|
||||
@@ -77,7 +75,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
|
||||
],
|
||||
CAR.EXPLORER_MK6: [
|
||||
FordCarInfo("Ford Explorer 2020-22"),
|
||||
FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
|
||||
FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
|
||||
],
|
||||
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
|
||||
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
|
||||
@@ -97,6 +95,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
|
||||
),
|
||||
],
|
||||
extra_ecus=[
|
||||
(Ecu.shiftByWire, 0x732, None),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
@@ -119,10 +120,6 @@ FW_VERSIONS = {
|
||||
b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.ESCAPE_MK4: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
@@ -144,16 +141,12 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.EXPLORER_MK6: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
@@ -180,18 +173,13 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FOCUS_MK4: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
@@ -209,8 +197,6 @@ FW_VERSIONS = {
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
],
|
||||
},
|
||||
CAR.MAVERICK_MK1: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
@@ -232,8 +218,5 @@ FW_VERSIONS = {
|
||||
b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x732, None): [
|
||||
b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
@@ -3,7 +3,7 @@ import capnp
|
||||
import copy
|
||||
from dataclasses import dataclass, field
|
||||
import struct
|
||||
from typing import Dict, List, Optional, Tuple
|
||||
from typing import Callable, Dict, List, Optional, Set, Tuple
|
||||
|
||||
import panda.python.uds as uds
|
||||
|
||||
@@ -74,6 +74,9 @@ 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, Optional[int]]] = field(default_factory=list)
|
||||
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
|
||||
# returns set of candidates. Only will match if one candidate is returned
|
||||
match_fw_to_car_fuzzy: Optional[Callable[[Dict[Tuple[int, Optional[int]], Set[bytes]]], Set[str]]] = None
|
||||
|
||||
def __post_init__(self):
|
||||
for i in range(len(self.requests)):
|
||||
|
||||
@@ -1,7 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
from collections import defaultdict
|
||||
from typing import Any, Dict, List, Set
|
||||
from typing import Any, DefaultDict, Dict, List, Optional, Set, Tuple
|
||||
from tqdm import tqdm
|
||||
import capnp
|
||||
|
||||
import panda.python.uds as uds
|
||||
from cereal import car
|
||||
@@ -14,6 +15,7 @@ from system.swaglog import cloudlog
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
|
||||
FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
|
||||
|
||||
FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
|
||||
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
|
||||
@@ -27,36 +29,36 @@ def chunks(l, n=128):
|
||||
yield l[i:i + n]
|
||||
|
||||
|
||||
def build_fw_dict(fw_versions, filter_brand=None):
|
||||
def is_brand(brand: str, filter_brand: Optional[str]) -> bool:
|
||||
"""Returns if brand matches filter_brand or no brand filter is specified"""
|
||||
return filter_brand is None or brand == filter_brand
|
||||
|
||||
|
||||
def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
|
||||
filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]:
|
||||
fw_versions_dict = defaultdict(set)
|
||||
for fw in fw_versions:
|
||||
if (filter_brand is None or fw.brand == filter_brand) and not fw.logging:
|
||||
if is_brand(fw.brand, filter_brand) and not fw.logging:
|
||||
sub_addr = fw.subAddress if fw.subAddress != 0 else None
|
||||
fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
|
||||
return dict(fw_versions_dict)
|
||||
|
||||
|
||||
def get_brand_addrs():
|
||||
brand_addrs = defaultdict(set)
|
||||
def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]:
|
||||
brand_addrs: DefaultDict[str, Set[Tuple[int, Optional[int]]]] = defaultdict(set)
|
||||
for brand, cars in VERSIONS.items():
|
||||
# Add ecus in database + extra ecus to match against
|
||||
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
|
||||
for fw in cars.values():
|
||||
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
|
||||
return brand_addrs
|
||||
return dict(brand_addrs)
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
|
||||
def match_fw_to_car_fuzzy(live_fw_versions, log=True, exclude=None):
|
||||
"""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."""
|
||||
|
||||
# These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
|
||||
# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
|
||||
# impossible to get 3 matching versions, even if two models with shared parts are released at the same
|
||||
# time and only one is in our database.
|
||||
exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
|
||||
|
||||
# Build lookup table from (addr, sub_addr, fw) to list of candidate cars
|
||||
all_fw_versions = defaultdict(list)
|
||||
for candidate, fw_by_addr in FW_VERSIONS.items():
|
||||
@@ -64,49 +66,56 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
|
||||
continue
|
||||
|
||||
for addr, fws in fw_by_addr.items():
|
||||
if addr[0] in exclude_types:
|
||||
# These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
|
||||
# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
|
||||
# impossible to get 3 matching versions, even if two models with shared parts are released at the same
|
||||
# time and only one is in our database.
|
||||
if addr[0] in FUZZY_EXCLUDE_ECUS:
|
||||
continue
|
||||
for f in fws:
|
||||
all_fw_versions[(addr[1], addr[2], f)].append(candidate)
|
||||
|
||||
match_count = 0
|
||||
matched_ecus = set()
|
||||
candidate = None
|
||||
for addr, versions in fw_versions_dict.items():
|
||||
for addr, versions in live_fw_versions.items():
|
||||
ecu_key = (addr[0], addr[1])
|
||||
for version in versions:
|
||||
# All cars that have this FW response on the specified address
|
||||
candidates = all_fw_versions[(addr[0], addr[1], version)]
|
||||
candidates = all_fw_versions[(*ecu_key, version)]
|
||||
|
||||
if len(candidates) == 1:
|
||||
match_count += 1
|
||||
matched_ecus.add(ecu_key)
|
||||
if candidate is None:
|
||||
candidate = candidates[0]
|
||||
# We uniquely matched two different cars. No fuzzy match possible
|
||||
elif candidate != candidates[0]:
|
||||
return set()
|
||||
|
||||
if match_count >= 2:
|
||||
# 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 log:
|
||||
cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
|
||||
cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
|
||||
return {candidate}
|
||||
else:
|
||||
return set()
|
||||
|
||||
|
||||
def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
|
||||
def match_fw_to_car_exact(live_fw_versions, log=True) -> 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
|
||||
needs to match the database."""
|
||||
invalid = []
|
||||
invalid = set()
|
||||
candidates = FW_VERSIONS
|
||||
|
||||
for candidate, fws in candidates.items():
|
||||
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
|
||||
for ecu, expected_versions in fws.items():
|
||||
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
|
||||
ecu_type = ecu[0]
|
||||
addr = ecu[1:]
|
||||
|
||||
found_versions = fw_versions_dict.get(addr, set())
|
||||
found_versions = live_fw_versions.get(addr, set())
|
||||
if not len(found_versions):
|
||||
# Some models can sometimes miss an ecu, or show on two different addresses
|
||||
if candidate in config.non_essential_ecus.get(ecu_type, []):
|
||||
@@ -121,13 +130,13 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
|
||||
continue
|
||||
|
||||
if not any([found_version in expected_versions for found_version in found_versions]):
|
||||
invalid.append(candidate)
|
||||
invalid.add(candidate)
|
||||
break
|
||||
|
||||
return set(candidates.keys()) - set(invalid)
|
||||
return set(candidates.keys()) - invalid
|
||||
|
||||
|
||||
def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
|
||||
def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
|
||||
# Try exact matching first
|
||||
exact_matches = []
|
||||
if allow_exact:
|
||||
@@ -140,7 +149,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
|
||||
matches = set()
|
||||
for brand in VERSIONS.keys():
|
||||
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
|
||||
matches |= match_func(fw_versions_dict)
|
||||
matches |= match_func(fw_versions_dict, log=log)
|
||||
|
||||
# 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)
|
||||
|
||||
if len(matches):
|
||||
return exact_match, matches
|
||||
@@ -214,7 +228,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
|
||||
cloudlog.warning("OBD multiplexing set successfully")
|
||||
|
||||
|
||||
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
|
||||
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
|
||||
List[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
|
||||
|
||||
all_car_fw = []
|
||||
@@ -235,14 +250,11 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
|
||||
return all_car_fw
|
||||
|
||||
|
||||
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
|
||||
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
|
||||
List[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
versions = VERSIONS.copy()
|
||||
params = Params()
|
||||
|
||||
# Each brand can define extra ECUs to query for data collection
|
||||
for brand, config in FW_QUERY_CONFIGS.items():
|
||||
versions[brand]["debug"] = {ecu: [] for ecu in config.extra_ecus}
|
||||
|
||||
if query_brand is not None:
|
||||
versions = {query_brand: versions[query_brand]}
|
||||
|
||||
@@ -256,8 +268,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
|
||||
ecu_types = {}
|
||||
|
||||
for brand, brand_versions in versions.items():
|
||||
config = FW_QUERY_CONFIGS[brand]
|
||||
for ecu in brand_versions.values():
|
||||
for ecu_type, addr, sub_addr in ecu.keys():
|
||||
# Each brand can define extra ECUs to query for data collection
|
||||
for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus:
|
||||
a = (brand, addr, sub_addr)
|
||||
if a not in ecu_types:
|
||||
ecu_types[a] = ecu_type
|
||||
@@ -273,7 +287,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
|
||||
|
||||
# Get versions and build capnp list to put into CarParams
|
||||
car_fw = []
|
||||
requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
|
||||
requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
|
||||
for addr in tqdm(addrs, disable=not progress):
|
||||
for addr_chunk in chunks(addr):
|
||||
for brand, config, r in requests:
|
||||
@@ -286,11 +300,11 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
|
||||
set_obd_multiplexing(params, r.obd_multiplexing)
|
||||
|
||||
try:
|
||||
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
|
||||
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
|
||||
query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
|
||||
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
|
||||
|
||||
if addrs:
|
||||
query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
|
||||
if query_addrs:
|
||||
query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
|
||||
for (tx_addr, sub_addr), version in query.get_data(timeout).items():
|
||||
f = car.CarParams.CarFw.new_message()
|
||||
|
||||
|
||||
@@ -20,10 +20,20 @@ def create_buttons(packer, bus, idx, button):
|
||||
|
||||
|
||||
def create_pscm_status(packer, bus, pscm_status):
|
||||
checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5
|
||||
pscm_status["HandsOffSWlDetectionStatus"] = 1
|
||||
pscm_status["PSCMStatusChecksum"] += checksum_mod
|
||||
return packer.make_can_msg("PSCMStatus", bus, pscm_status)
|
||||
values = {s: pscm_status[s] for s in [
|
||||
"HandsOffSWDetectionMode",
|
||||
"HandsOffSWlDetectionStatus",
|
||||
"LKATorqueDeliveredStatus",
|
||||
"LKADriverAppldTrq",
|
||||
"LKATorqueDelivered",
|
||||
"LKATotalTorqueDelivered",
|
||||
"RollingCounter",
|
||||
"PSCMStatusChecksum",
|
||||
]}
|
||||
checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5
|
||||
values["HandsOffSWlDetectionStatus"] = 1
|
||||
values["PSCMStatusChecksum"] += checksum_mod
|
||||
return packer.make_can_msg("PSCMStatus", bus, values)
|
||||
|
||||
|
||||
def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
|
||||
|
||||
@@ -5,7 +5,7 @@ from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
@@ -89,9 +89,9 @@ class GMCarInfo(CarInfo):
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
|
||||
self.harness_kit = HarnessKit(Harness.gm)
|
||||
self.car_parts = CarParts.common([CarHarness.gm])
|
||||
else:
|
||||
self.harness_kit = HarnessKit(Harness.obd_ii, parts=[HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
|
||||
self.car_parts = CarParts.common([CarHarness.obd_ii])
|
||||
self.footnotes.append(Footnote.OBD_II)
|
||||
|
||||
|
||||
|
||||
@@ -155,7 +155,6 @@ class CarState(CarStateBase):
|
||||
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
|
||||
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
|
||||
|
||||
self.brake_error = False
|
||||
self.brake_switch_prev = False
|
||||
self.brake_switch_active = False
|
||||
self.cruise_setting = 0
|
||||
@@ -203,11 +202,19 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
|
||||
self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
|
||||
ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
|
||||
elif self.CP.carFingerprint == CAR.CLARITY:
|
||||
self.brake_error = cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"]
|
||||
elif self.CP.openpilotLongitudinalControl:
|
||||
self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
|
||||
ret.accFaulted = bool(cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"])
|
||||
else:
|
||||
# On some cars, these two signals are always 1, this flag is masking a bug in release
|
||||
# FIXME: find and set the ACC faulted signals on more platforms
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"])
|
||||
|
||||
# Log non-critical stock ACC/LKAS faults if Nidec (camera)
|
||||
if self.CP.carFingerprint not in HONDA_BOSCH:
|
||||
ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"])
|
||||
|
||||
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
|
||||
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
@@ -353,12 +360,15 @@ class CarState(CarStateBase):
|
||||
("AEB_REQ_1", "BRAKE_COMMAND"),
|
||||
("FCW", "BRAKE_COMMAND"),
|
||||
("CHIME", "BRAKE_COMMAND"),
|
||||
("LKAS_PROBLEM", "LKAS_HUD"),
|
||||
("FCM_OFF", "ACC_HUD"),
|
||||
("FCM_OFF_2", "ACC_HUD"),
|
||||
("FCM_PROBLEM", "ACC_HUD"),
|
||||
("ACC_PROBLEM", "ACC_HUD"),
|
||||
("ICONS", "ACC_HUD")]
|
||||
checks += [
|
||||
("ACC_HUD", 10),
|
||||
("LKAS_HUD", 10),
|
||||
("BRAKE_COMMAND", 50),
|
||||
]
|
||||
|
||||
|
||||
@@ -314,8 +314,8 @@ class CarInterface(CarInterfaceBase):
|
||||
# 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
|
||||
stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC, CAR.CLARITY}) or ret.enableGasInterceptor
|
||||
ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
|
||||
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC, CAR.CLARITY}) or ret.enableGasInterceptor
|
||||
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
@@ -379,15 +379,11 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# events
|
||||
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
|
||||
|
||||
events, ret = self.create_sp_events(self.CS, ret, events)
|
||||
|
||||
if self.CS.brake_error:
|
||||
events.add(EventName.brakeUnavailable)
|
||||
|
||||
if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed and not self.CS.madsEnabled:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
|
||||
events, ret = self.create_sp_events(self.CS, ret, events)
|
||||
|
||||
#if self.CP.pcmCruise:
|
||||
# # we engage when pcm is active (rising edge)
|
||||
# if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
|
||||
|
||||
@@ -6,7 +6,7 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -111,9 +111,9 @@ class HondaCarInfo(CarInfo):
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.carFingerprint in HONDA_BOSCH:
|
||||
self.harness_kit = HarnessKit(Harness.bosch_b) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else HarnessKit(Harness.bosch_a)
|
||||
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
|
||||
else:
|
||||
self.harness_kit = HarnessKit(Harness.nidec)
|
||||
self.car_parts = CarParts.common([CarHarness.nidec])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
@@ -147,7 +147,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
CAR.PILOT: [
|
||||
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
HondaCarInfo("Honda Passport 2019-22", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
],
|
||||
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
@@ -1132,6 +1132,7 @@ FW_VERSIONS = {
|
||||
b'37805-RLV-B210\x00\x00',
|
||||
b'37805-RLV-L160\x00\x00',
|
||||
b'37805-RLV-B420\x00\x00',
|
||||
b'37805-RLV-F120\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TG7-A030\x00\x00',
|
||||
|
||||
@@ -222,8 +222,8 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.brakePressed = ret.brakeLights = cp.vl["TCS"]["DriverBraking"] == 1
|
||||
|
||||
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
|
||||
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
|
||||
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
|
||||
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
|
||||
|
||||
gear = cp.vl[self.gear_msg_canfd]["GEAR"]
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
|
||||
@@ -585,8 +585,8 @@ class CarState(CarStateBase):
|
||||
("LEFT_LAMP", "BLINKERS"),
|
||||
("RIGHT_LAMP", "BLINKERS"),
|
||||
|
||||
("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"),
|
||||
("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"),
|
||||
("DRIVER_DOOR", "DOORS_SEATBELTS"),
|
||||
("DRIVER_SEATBELT", "DOORS_SEATBELTS"),
|
||||
]
|
||||
|
||||
checks = [
|
||||
@@ -614,6 +614,8 @@ class CarState(CarStateBase):
|
||||
|
||||
if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
|
||||
signals += [
|
||||
("COUNTER", "SCC_CONTROL"),
|
||||
("CHECKSUM", "SCC_CONTROL"),
|
||||
("ACCMode", "SCC_CONTROL"),
|
||||
("VSetDis", "SCC_CONTROL"),
|
||||
("CRUISE_STANDSTILL", "SCC_CONTROL"),
|
||||
@@ -660,6 +662,7 @@ class CarState(CarStateBase):
|
||||
elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
|
||||
signals += [
|
||||
("COUNTER", "SCC_CONTROL"),
|
||||
("CHECKSUM", "SCC_CONTROL"),
|
||||
("NEW_SIGNAL_1", "SCC_CONTROL"),
|
||||
("MainMode_ACC", "SCC_CONTROL"),
|
||||
("ACCMode", "SCC_CONTROL"),
|
||||
|
||||
@@ -22,8 +22,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
|
||||
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
|
||||
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
|
||||
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
|
||||
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.ELANTRA_2022_NON_SCC,
|
||||
CAR.GENESIS_G70_2021_NON_SCC):
|
||||
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
|
||||
CAR.ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC):
|
||||
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
|
||||
values["CF_Lkas_LdwsOpt_USM"] = 2
|
||||
|
||||
|
||||
@@ -1,17 +1,15 @@
|
||||
import math
|
||||
|
||||
from common.numpy_fast import clip
|
||||
from selfdrive.car import CanBusBase
|
||||
from selfdrive.car.hyundai.values import HyundaiFlags
|
||||
|
||||
|
||||
class CanBus:
|
||||
def __init__(self, CP, hda2=None, fingerprint=None):
|
||||
if CP is None:
|
||||
assert None not in (hda2, fingerprint)
|
||||
num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
|
||||
else:
|
||||
class CanBus(CanBusBase):
|
||||
def __init__(self, CP, hda2=None, fingerprint=None) -> None:
|
||||
super().__init__(CP, fingerprint)
|
||||
|
||||
if hda2 is None:
|
||||
assert CP is not None
|
||||
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
|
||||
num = len(CP.safetyConfigs)
|
||||
|
||||
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
|
||||
# have a different harness than the HDA1 and non-HDA variants in order to split
|
||||
@@ -20,10 +18,9 @@ class CanBus:
|
||||
if hda2:
|
||||
self._a, self._e = 0, 1
|
||||
|
||||
offset = 4*(num - 1)
|
||||
self._a += offset
|
||||
self._e += offset
|
||||
self._cam = 2 + offset
|
||||
self._a += self.offset
|
||||
self._e += self.offset
|
||||
self._cam = 2 + self.offset
|
||||
|
||||
@property
|
||||
def ECAN(self):
|
||||
|
||||
@@ -343,7 +343,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# for blinkers
|
||||
if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
||||
disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01')
|
||||
disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
|
||||
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
|
||||
+21
@@ -0,0 +1,21 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
||||
|
||||
if __name__ == "__main__":
|
||||
for car_model, ecus in FW_VERSIONS.items():
|
||||
print()
|
||||
print(car_model)
|
||||
for ecu in sorted(ecus, key=lambda x: int(x[0])):
|
||||
if ecu[0] not in PLATFORM_CODE_ECUS:
|
||||
continue
|
||||
|
||||
platform_codes = get_platform_codes(ecus[ecu])
|
||||
codes = {code for code, _ in platform_codes}
|
||||
dates = {date for _, date in platform_codes if date is not None}
|
||||
print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
|
||||
print(f' Codes: {codes}')
|
||||
print(f' Dates: {dates}')
|
||||
@@ -2,11 +2,38 @@
|
||||
import unittest
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR
|
||||
from selfdrive.car.fw_versions import build_fw_dict
|
||||
from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
|
||||
EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
|
||||
PLATFORM_CODE_ECUS, get_platform_codes
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
||||
|
||||
# Some platforms have date codes in a different format we don't yet parse (or are missing).
|
||||
# For now, assert list of expected missing date cars
|
||||
NO_DATES_PLATFORMS = {
|
||||
# CAN FD
|
||||
CAR.KIA_SPORTAGE_5TH_GEN,
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
|
||||
CAR.SANTA_CRUZ_1ST_GEN,
|
||||
CAR.TUCSON_4TH_GEN,
|
||||
CAR.TUCSON_HYBRID_4TH_GEN,
|
||||
# CAN
|
||||
CAR.ELANTRA,
|
||||
CAR.KIA_CEED,
|
||||
CAR.KIA_FORTE,
|
||||
CAR.KIA_OPTIMA_G4,
|
||||
CAR.KIA_OPTIMA_G4_FL,
|
||||
CAR.KIA_SORENTO,
|
||||
CAR.KONA,
|
||||
CAR.KONA_EV,
|
||||
CAR.KONA_EV_2022,
|
||||
CAR.KONA_HEV,
|
||||
CAR.SONATA_LF,
|
||||
CAR.VELOSTER,
|
||||
}
|
||||
|
||||
|
||||
class TestHyundaiFingerprint(unittest.TestCase):
|
||||
def test_canfd_not_in_can_features(self):
|
||||
@@ -21,8 +48,115 @@ class TestHyundaiFingerprint(unittest.TestCase):
|
||||
for car_model in CANFD_CAR:
|
||||
ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
|
||||
ecus_not_in_whitelist = ecus - whitelisted_ecus
|
||||
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
|
||||
self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')
|
||||
ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
|
||||
self.assertEqual(len(ecus_not_in_whitelist), 0,
|
||||
f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
|
||||
|
||||
# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
|
||||
# fingerprint in the absence of full FW matches:
|
||||
def test_platform_code_ecus_available(self):
|
||||
# TODO: add queries for these non-CAN FD cars to get EPS
|
||||
no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL,
|
||||
CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
|
||||
|
||||
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
|
||||
for car_model, ecus in FW_VERSIONS.items():
|
||||
with self.subTest(car_model=car_model):
|
||||
for platform_code_ecu in PLATFORM_CODE_ECUS:
|
||||
if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
|
||||
continue
|
||||
if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
|
||||
continue
|
||||
self.assertIn(platform_code_ecu, [e[0] for e in ecus])
|
||||
|
||||
def test_fw_format(self):
|
||||
# Asserts:
|
||||
# - every supported ECU FW version returns one platform code
|
||||
# - every supported ECU FW version has a part number
|
||||
# - expected parsing of ECU FW dates
|
||||
|
||||
for car_model, ecus in FW_VERSIONS.items():
|
||||
with self.subTest(car_model=car_model):
|
||||
for ecu, fws in ecus.items():
|
||||
if ecu[0] not in PLATFORM_CODE_ECUS:
|
||||
continue
|
||||
|
||||
codes = set()
|
||||
for fw in fws:
|
||||
result = get_platform_codes([fw])
|
||||
self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
|
||||
codes |= result
|
||||
|
||||
if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
|
||||
self.assertTrue(all({date is None for _, date in codes}))
|
||||
else:
|
||||
self.assertTrue(all({date is not None for _, date in codes}))
|
||||
|
||||
if car_model == CAR.HYUNDAI_GENESIS:
|
||||
raise unittest.SkipTest("No part numbers for car model")
|
||||
|
||||
# Hyundai places the ECU part number in their FW versions, assert all parsable
|
||||
# Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
|
||||
self.assertTrue(all({b"-" in code for code, _ in codes}),
|
||||
f"FW does not have part number: {fw}")
|
||||
|
||||
def test_platform_codes_spot_check(self):
|
||||
# Asserts basic platform code parsing behavior for a few cases
|
||||
results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
|
||||
self.assertEqual(results, {(b"DH", b"150210")})
|
||||
|
||||
# Some cameras and all radars do not have dates
|
||||
results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "])
|
||||
self.assertEqual(results, {(b"AEhe-G2000", None)})
|
||||
|
||||
results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "])
|
||||
self.assertEqual(results, {(b"CV1-CV000", None)})
|
||||
|
||||
results = get_platform_codes([
|
||||
b"\xf1\x00DH LKAS 1.1 -150210",
|
||||
b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ",
|
||||
b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ",
|
||||
])
|
||||
self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
|
||||
|
||||
results = get_platform_codes([
|
||||
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222",
|
||||
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103",
|
||||
b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405",
|
||||
b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720",
|
||||
])
|
||||
self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
|
||||
(b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
|
||||
|
||||
def test_fuzzy_excluded_platforms(self):
|
||||
# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
|
||||
# This list can be shrunk as we combine platforms and detect features
|
||||
excluded_platforms = {
|
||||
CAR.GENESIS_G70, # shared platform code, part number, and date
|
||||
CAR.GENESIS_G70_2020,
|
||||
CAR.TUCSON_4TH_GEN, # shared platform code and part number
|
||||
CAR.TUCSON_HYBRID_4TH_GEN,
|
||||
}
|
||||
excluded_platforms |= CANFD_CAR - EV_CAR # shared platform codes
|
||||
excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match
|
||||
|
||||
platforms_with_shared_codes = set()
|
||||
for platform, fw_by_addr in FW_VERSIONS.items():
|
||||
car_fw = []
|
||||
for ecu, fw_versions in fw_by_addr.items():
|
||||
ecu_name, addr, sub_addr = ecu
|
||||
for fw in fw_versions:
|
||||
car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
|
||||
"subAddress": 0 if sub_addr is None else sub_addr})
|
||||
|
||||
CP = car.CarParams.new_message(carFw=car_fw)
|
||||
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
|
||||
if len(matches) == 1:
|
||||
self.assertEqual(list(matches)[0], platform)
|
||||
else:
|
||||
platforms_with_shared_codes.add(platform)
|
||||
|
||||
self.assertEqual(platforms_with_shared_codes, excluded_platforms)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
+175
-85
@@ -1,12 +1,13 @@
|
||||
import re
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum, IntFlag
|
||||
from typing import Dict, List, Optional, Union
|
||||
from typing import Dict, List, Optional, Set, Tuple, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -154,114 +155,114 @@ class HyundaiCarInfo(CarInfo):
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.ELANTRA: [
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_b)),
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.HYUNDAI_GENESIS: [
|
||||
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)), # TODO: check 2015 packages
|
||||
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)),
|
||||
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), # TODO: check 2015 packages
|
||||
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
|
||||
],
|
||||
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness_kit=HarnessKit(Harness.hyundai_h)), # TODO: confirm 2020-21 harness
|
||||
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness_kit=HarnessKit(Harness.hyundai_b)),
|
||||
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness_kit=HarnessKit(Harness.hyundai_o)),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness_kit=HarnessKit(Harness.hyundai_i)), # TODO: check packages
|
||||
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness_kit=HarnessKit(Harness.hyundai_d)),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness
|
||||
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
|
||||
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
|
||||
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.TUCSON: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
],
|
||||
CAR.PALISADE: [
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Kia Telluride 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
],
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.IONIQ_5: [
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_q)),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_q)),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
],
|
||||
CAR.TUCSON_4TH_GEN: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
],
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
|
||||
# Kia
|
||||
CAR.KIA_FORTE: [
|
||||
HyundaiCarInfo("Kia Forte 2019-21", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
HyundaiCarInfo("Kia Forte 2023", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_NIRO_EV: [
|
||||
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
],
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_NIRO_PHEV: [
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness_kit=HarnessKit(Harness.hyundai_d)),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
|
||||
],
|
||||
CAR.KIA_NIRO_HEV_2021: [
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness_kit=HarnessKit(Harness.hyundai_f)), # TODO: 2021 could be hyundai_d, verify
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify
|
||||
],
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness_kit=HarnessKit(Harness.hyundai_b)), # TODO: may support 2016, 2018
|
||||
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness_kit=HarnessKit(Harness.hyundai_g)),
|
||||
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
|
||||
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
CAR.KIA_OPTIMA_H: [
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2019"),
|
||||
],
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.KIA_SORENTO: [
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_n)),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness_kit=HarnessKit(Harness.hyundai_e)),
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
CAR.KIA_EV6: [
|
||||
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_p)),
|
||||
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_p))
|
||||
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
|
||||
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
|
||||
],
|
||||
|
||||
# Genesis
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: [
|
||||
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
|
||||
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_k)),
|
||||
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
],
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness_kit=HarnessKit(Harness.hyundai_f)),
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
|
||||
CAR.GENESIS_GV70_1ST_GEN: [
|
||||
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
|
||||
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_m)),
|
||||
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
],
|
||||
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
|
||||
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness_kit=HarnessKit(Harness.hyundai_c)),
|
||||
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness_kit=HarnessKit(Harness.hyundai_m)),
|
||||
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
|
||||
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
|
||||
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
|
||||
# Non-SCC Cars
|
||||
CAR.ELANTRA_2022_NON_SCC: HyundaiCarInfo("Hyundai Elantra Non-SCC 2022"),
|
||||
@@ -355,6 +356,76 @@ FINGERPRINTS = {
|
||||
}],
|
||||
}
|
||||
|
||||
|
||||
def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
|
||||
# Returns unique, platform-specific identification codes for a set of versions
|
||||
codes = set() # (code-Optional[part], date)
|
||||
for fw in fw_versions:
|
||||
code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
|
||||
part_match = PART_NUMBER_FW_PATTERN.search(fw)
|
||||
date_match = DATE_FW_PATTERN.search(fw)
|
||||
if code_match is not None:
|
||||
code: bytes = code_match.group()
|
||||
part = part_match.group() if part_match else None
|
||||
date = date_match.group() if date_match else None
|
||||
if part is not None:
|
||||
# part number starts with generic ECU part type, add what is specific to platform
|
||||
code += b"-" + part[-5:]
|
||||
|
||||
codes.add((code, date))
|
||||
return codes
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
|
||||
# Non-electric CAN FD platforms often do not have platform code specifiers needed
|
||||
# to distinguish between hybrid and ICE. All EVs so far are either exclusively
|
||||
# electric or specify electric in the platform code.
|
||||
fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
|
||||
candidates = set()
|
||||
|
||||
for candidate, fws in FW_VERSIONS.items():
|
||||
# Keep track of ECUs which pass all checks (platform codes, within date range)
|
||||
valid_found_ecus = set()
|
||||
valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
|
||||
for ecu, expected_versions in fws.items():
|
||||
addr = ecu[1:]
|
||||
# Only check ECUs expected to have platform codes
|
||||
if ecu[0] not in PLATFORM_CODE_ECUS:
|
||||
continue
|
||||
|
||||
# Expected platform codes & dates
|
||||
codes = get_platform_codes(expected_versions)
|
||||
expected_platform_codes = {code for code, _ in codes}
|
||||
expected_dates = {date for _, date in codes if date is not None}
|
||||
|
||||
# Found platform codes & dates
|
||||
codes = get_platform_codes(live_fw_versions.get(addr, set()))
|
||||
found_platform_codes = {code for code, _ in codes}
|
||||
found_dates = {date for _, date in codes if date is not None}
|
||||
|
||||
# Check platform code + part number matches for any found versions
|
||||
if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
|
||||
break
|
||||
|
||||
if ecu[0] in DATE_FW_ECUS:
|
||||
# If ECU can have a FW date, require it to exist
|
||||
# (this excludes candidates in the database without dates)
|
||||
if not len(expected_dates) or not len(found_dates):
|
||||
break
|
||||
|
||||
# Check any date within range in the database, format is %y%m%d
|
||||
if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
|
||||
break
|
||||
|
||||
valid_found_ecus.add(addr)
|
||||
|
||||
# If all live ECUs pass all checks for candidate, add it as a match
|
||||
if valid_expected_ecus.issubset(valid_found_ecus):
|
||||
candidates.add(candidate)
|
||||
|
||||
return candidates - fuzzy_platform_blacklist
|
||||
|
||||
|
||||
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xf100) # Long description
|
||||
|
||||
@@ -368,6 +439,18 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]
|
||||
|
||||
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
|
||||
|
||||
# Regex patterns for parsing platform code, FW date, and part number from FW versions
|
||||
PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
|
||||
b')[A-Z]{2}[A-Za-z0-9]{0,2})')
|
||||
DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
|
||||
PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
|
||||
|
||||
# List of ECUs expected to have platform codes, camera and radar should exist on all cars
|
||||
# TODO: use abs, it has the platform code and part number on many platforms
|
||||
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
|
||||
# So far we've only seen dates in fwdCamera
|
||||
DATE_FW_ECUS = [Ecu.fwdCamera]
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
# TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
|
||||
@@ -424,6 +507,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
(Ecu.hvac, 0x7b3, None), # HVAC Control Assembly
|
||||
(Ecu.cornerRadar, 0x7b7, None),
|
||||
],
|
||||
# Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
|
||||
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
@@ -555,14 +640,11 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.SONATA: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
|
||||
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ',
|
||||
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ',
|
||||
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ',
|
||||
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ',
|
||||
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ',
|
||||
b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
|
||||
@@ -603,11 +685,9 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
|
||||
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
|
||||
b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
|
||||
b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
|
||||
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
|
||||
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
|
||||
b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
|
||||
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
|
||||
b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
|
||||
b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
|
||||
b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
|
||||
@@ -768,7 +848,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409',
|
||||
b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12',
|
||||
b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129',
|
||||
b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102'
|
||||
b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207',
|
||||
@@ -863,19 +943,25 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
|
||||
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
|
||||
b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105',
|
||||
b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727',
|
||||
b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224',
|
||||
b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727',
|
||||
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14',
|
||||
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
|
||||
b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x87391312MTC1',
|
||||
b'\xf1\x87391312MTE0',
|
||||
b'\xf1\x87391312MTL0',
|
||||
],
|
||||
},
|
||||
CAR.SANTA_FE_PHEV_2022: {
|
||||
@@ -1114,12 +1200,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107',
|
||||
b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107',
|
||||
b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108',
|
||||
b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
|
||||
b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
|
||||
b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
|
||||
b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
|
||||
b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ',
|
||||
@@ -1133,6 +1221,7 @@ FW_VERSIONS = {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_G70_2021_NON_SCC: {
|
||||
@@ -1169,7 +1258,10 @@ FW_VERSIONS = {
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_G90: {
|
||||
(Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
|
||||
b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'],
|
||||
(Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'],
|
||||
@@ -1545,10 +1637,8 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
|
||||
b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
|
||||
b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
|
||||
b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
|
||||
b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819',
|
||||
|
||||
@@ -90,12 +90,14 @@ class IsoTpParallelQuery:
|
||||
for addr in self.functional_addrs:
|
||||
self._create_isotp_msg(addr, None, -1).send(self.request[0])
|
||||
|
||||
# If querying functional addrs, set up physical IsoTpMessages to send consecutive frames
|
||||
# Send first frame (single or first) to all addresses and receive asynchronously in the loop below.
|
||||
# If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames
|
||||
for msg in msgs.values():
|
||||
msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0)
|
||||
|
||||
results = {}
|
||||
start_time = time.monotonic()
|
||||
addrs_responded = set() # track addresses that have ever sent a valid iso-tp frame for timeout logging
|
||||
response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
|
||||
while True:
|
||||
self.rx()
|
||||
@@ -110,6 +112,7 @@ class IsoTpParallelQuery:
|
||||
|
||||
# Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
|
||||
if rx_in_progress:
|
||||
addrs_responded.add(tx_addr)
|
||||
response_timeouts[tx_addr] = time.monotonic() + timeout
|
||||
|
||||
if not dat:
|
||||
@@ -117,7 +120,7 @@ class IsoTpParallelQuery:
|
||||
|
||||
counter = request_counter[tx_addr]
|
||||
expected_response = self.response[counter]
|
||||
response_valid = dat[:len(expected_response)] == expected_response
|
||||
response_valid = dat.startswith(expected_response)
|
||||
|
||||
if response_valid:
|
||||
if counter + 1 < len(self.request):
|
||||
@@ -140,8 +143,14 @@ class IsoTpParallelQuery:
|
||||
cur_time = time.monotonic()
|
||||
for tx_addr in response_timeouts:
|
||||
if cur_time - response_timeouts[tx_addr] > 0:
|
||||
if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
|
||||
cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
|
||||
if not request_done[tx_addr]:
|
||||
if request_counter[tx_addr] > 0:
|
||||
cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
|
||||
elif tx_addr in addrs_responded:
|
||||
cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
|
||||
# TODO: handle functional addresses
|
||||
# else:
|
||||
# cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}")
|
||||
request_done[tx_addr] = True
|
||||
|
||||
# Break if all requests are done (finished or timed out)
|
||||
|
||||
@@ -51,8 +51,8 @@ class CarState(CarStateBase):
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
|
||||
|
||||
ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
|
||||
ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1
|
||||
ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1
|
||||
ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
|
||||
ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
|
||||
ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
|
||||
cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
|
||||
|
||||
@@ -169,8 +169,8 @@ class CarState(CarStateBase):
|
||||
("PEDAL_GAS", "ENGINE_DATA"),
|
||||
("SPEED", "ENGINE_DATA"),
|
||||
("CTR", "CRZ_BTNS"),
|
||||
("LEFT_BS1", "BSM"),
|
||||
("RIGHT_BS1", "BSM"),
|
||||
("LEFT_BS_STATUS", "BSM"),
|
||||
("RIGHT_BS_STATUS", "BSM"),
|
||||
|
||||
("SET_P", "CRZ_BTNS"),
|
||||
("SET_M", "CRZ_BTNS"),
|
||||
|
||||
@@ -1,5 +1,3 @@
|
||||
import copy
|
||||
|
||||
from selfdrive.car.mazda.values import GEN1, Buttons
|
||||
|
||||
|
||||
@@ -46,6 +44,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
|
||||
|
||||
csum = csum % 256
|
||||
|
||||
values = {}
|
||||
if car_fingerprint in GEN1:
|
||||
values = {
|
||||
"LKAS_REQUEST": apply_steer,
|
||||
@@ -64,7 +63,17 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
|
||||
|
||||
|
||||
def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool):
|
||||
values = copy.copy(cam_msg)
|
||||
values = {s: cam_msg[s] for s in [
|
||||
"LINE_VISIBLE",
|
||||
"LINE_NOT_VISIBLE",
|
||||
"LANE_LINES",
|
||||
"BIT1",
|
||||
"BIT2",
|
||||
"BIT3",
|
||||
"NO_ERR_BIT",
|
||||
"S1",
|
||||
"S1_HBEAM",
|
||||
]}
|
||||
values.update({
|
||||
# TODO: what's the difference between all these? do we need to send all?
|
||||
"HANDS_WARN_3_BITS": 0b111 if steer_required else 0,
|
||||
|
||||
@@ -3,7 +3,7 @@ from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -45,7 +45,7 @@ BUTTON_STATES = {
|
||||
@dataclass
|
||||
class MazdaCarInfo(CarInfo):
|
||||
package: str = "All"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.mazda)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.mazda])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
|
||||
|
||||
@@ -81,6 +81,7 @@ class CarController:
|
||||
can_sends.append(nissancan.create_steering_control(
|
||||
self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
|
||||
|
||||
# Below are the HUD messages. We copy the stock message and modify
|
||||
if self.CP.carFingerprint != CAR.ALTIMA:
|
||||
if self.frame % 2 == 0:
|
||||
can_sends.append(nissancan.create_lkas_hud_msg(
|
||||
|
||||
@@ -173,6 +173,7 @@ class CarState(CarStateBase):
|
||||
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
|
||||
("NEW_SIGNAL_2", "CRUISE_THROTTLE"),
|
||||
("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"),
|
||||
("COUNTER", "CRUISE_THROTTLE"),
|
||||
("unsure1", "CRUISE_THROTTLE"),
|
||||
("unsure2", "CRUISE_THROTTLE"),
|
||||
("unsure3", "CRUISE_THROTTLE"),
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
import copy
|
||||
import crcmod
|
||||
from selfdrive.car.nissan.values import CAR
|
||||
|
||||
@@ -23,7 +22,23 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
|
||||
|
||||
|
||||
def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
|
||||
values = copy.copy(cruise_throttle_msg)
|
||||
values = {s: cruise_throttle_msg[s] for s in [
|
||||
"COUNTER",
|
||||
"PROPILOT_BUTTON",
|
||||
"CANCEL_BUTTON",
|
||||
"GAS_PEDAL_INVERTED",
|
||||
"SET_BUTTON",
|
||||
"RES_BUTTON",
|
||||
"FOLLOW_DISTANCE_BUTTON",
|
||||
"NO_BUTTON_PRESSED",
|
||||
"GAS_PEDAL",
|
||||
"USER_BRAKE_PRESSED",
|
||||
"NEW_SIGNAL_2",
|
||||
"GAS_PRESSED_INVERTED",
|
||||
"unsure1",
|
||||
"unsure2",
|
||||
"unsure3",
|
||||
]}
|
||||
can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
|
||||
|
||||
values["CANCEL_BUTTON"] = 1
|
||||
@@ -37,7 +52,12 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
|
||||
|
||||
|
||||
def create_cancel_msg(packer, cancel_msg, cruise_cancel):
|
||||
values = copy.copy(cancel_msg)
|
||||
values = {s: cancel_msg[s] for s in [
|
||||
"CANCEL_SEATBELT",
|
||||
"NEW_SIGNAL_1",
|
||||
"NEW_SIGNAL_2",
|
||||
"NEW_SIGNAL_3",
|
||||
]}
|
||||
|
||||
if cruise_cancel:
|
||||
values["CANCEL_SEATBELT"] = 1
|
||||
@@ -46,7 +66,34 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel):
|
||||
|
||||
|
||||
def create_lkas_hud_msg(packer, lkas_hud_msg, lat_active, blinking_icon, lateral_paused, left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
values = lkas_hud_msg
|
||||
values = {s: lkas_hud_msg[s] for s in [
|
||||
"LARGE_WARNING_FLASHING",
|
||||
"SIDE_RADAR_ERROR_FLASHING1",
|
||||
"SIDE_RADAR_ERROR_FLASHING2",
|
||||
"LEAD_CAR",
|
||||
"LEAD_CAR_ERROR",
|
||||
"FRONT_RADAR_ERROR",
|
||||
"FRONT_RADAR_ERROR_FLASHING",
|
||||
"SIDE_RADAR_ERROR_FLASHING3",
|
||||
"LKAS_ERROR_FLASHING",
|
||||
"SAFETY_SHIELD_ACTIVE",
|
||||
"RIGHT_LANE_GREEN_FLASH",
|
||||
"LEFT_LANE_GREEN_FLASH",
|
||||
"FOLLOW_DISTANCE",
|
||||
"AUDIBLE_TONE",
|
||||
"SPEED_SET_ICON",
|
||||
"SMALL_STEERING_WHEEL_ICON",
|
||||
"unknown59",
|
||||
"unknown55",
|
||||
"unknown26",
|
||||
"unknown28",
|
||||
"unknown31",
|
||||
"SET_SPEED",
|
||||
"unknown43",
|
||||
"unknown08",
|
||||
"unknown05",
|
||||
"unknown02",
|
||||
]}
|
||||
|
||||
values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
|
||||
values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
|
||||
@@ -59,7 +106,47 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, lat_active, blinking_icon, lateral
|
||||
|
||||
|
||||
def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
|
||||
values = lkas_hud_info_msg
|
||||
values = {s: lkas_hud_info_msg[s] for s in [
|
||||
"NA_HIGH_ACCEL_TEMP",
|
||||
"SIDE_RADAR_NA_HIGH_CABIN_TEMP",
|
||||
"SIDE_RADAR_MALFUNCTION",
|
||||
"LKAS_MALFUNCTION",
|
||||
"FRONT_RADAR_MALFUNCTION",
|
||||
"SIDE_RADAR_NA_CLEAN_REAR_CAMERA",
|
||||
"NA_POOR_ROAD_CONDITIONS",
|
||||
"CURRENTLY_UNAVAILABLE",
|
||||
"SAFETY_SHIELD_OFF",
|
||||
"FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION",
|
||||
"PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED",
|
||||
"SIDE_IMPACT_NA_RADAR_OBSTRUCTION",
|
||||
"WARNING_DO_NOT_ENTER",
|
||||
"SIDE_IMPACT_SYSTEM_OFF",
|
||||
"SIDE_IMPACT_MALFUNCTION",
|
||||
"FRONT_COLLISION_MALFUNCTION",
|
||||
"SIDE_RADAR_MALFUNCTION2",
|
||||
"LKAS_MALFUNCTION2",
|
||||
"FRONT_RADAR_MALFUNCTION2",
|
||||
"PROPILOT_NA_MSGS",
|
||||
"BOTTOM_MSG",
|
||||
"HANDS_ON_WHEEL_WARNING",
|
||||
"WARNING_STEP_ON_BRAKE_NOW",
|
||||
"PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED",
|
||||
"PROPILOT_NA_HIGH_CABIN_TEMP",
|
||||
"WARNING_PROPILOT_MALFUNCTION",
|
||||
"ACC_UNAVAILABLE_HIGH_CABIN_TEMP",
|
||||
"ACC_NA_FRONT_CAMERA_IMPARED",
|
||||
"unknown07",
|
||||
"unknown10",
|
||||
"unknown15",
|
||||
"unknown23",
|
||||
"unknown19",
|
||||
"unknown31",
|
||||
"unknown32",
|
||||
"unknown46",
|
||||
"unknown61",
|
||||
"unknown55",
|
||||
"unknown50",
|
||||
]}
|
||||
|
||||
if steer_hud_alert:
|
||||
values["HANDS_ON_WHEEL_WARNING"] = 1
|
||||
|
||||
@@ -4,7 +4,7 @@ from typing import Dict, List, Optional, Union
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit, HarnessPart
|
||||
from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -30,13 +30,10 @@ class CAR:
|
||||
ALTIMA = "NISSAN ALTIMA 2020"
|
||||
|
||||
|
||||
NISSAN_HARNESS_PARTS = [HarnessPart.harness_box, HarnessPart.rj45_cable, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler]
|
||||
|
||||
|
||||
@dataclass
|
||||
class NissanCarInfo(CarInfo):
|
||||
package: str = "ProPILOT Assist"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.nissan_a, parts=NISSAN_HARNESS_PARTS)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.nissan_a])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
|
||||
@@ -44,7 +41,7 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
|
||||
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
|
||||
CAR.LEAF_IC: None, # same platforms
|
||||
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
|
||||
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness_kit=HarnessKit(Harness.nissan_b, parts=NISSAN_HARNESS_PARTS)),
|
||||
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
|
||||
}
|
||||
|
||||
FINGERPRINTS = {
|
||||
@@ -171,9 +168,9 @@ FW_VERSIONS = {
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None),
|
||||
CAR.LEAF: dbc_dict('nissan_leaf_2018', None),
|
||||
CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None),
|
||||
CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None),
|
||||
CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None),
|
||||
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
|
||||
CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
|
||||
CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
|
||||
CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
|
||||
CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
|
||||
}
|
||||
|
||||
@@ -10,10 +10,6 @@ class CarController:
|
||||
self.apply_steer_last = 0
|
||||
self.frame = 0
|
||||
|
||||
self.es_lkas_state_cnt = -1
|
||||
self.es_distance_cnt = -1
|
||||
self.es_dashstatus_cnt = -1
|
||||
self.infotainmentstatus_cnt = -1
|
||||
self.cruise_button_prev = 0
|
||||
self.last_cancel_frame = 0
|
||||
|
||||
@@ -29,7 +25,6 @@ class CarController:
|
||||
|
||||
# *** steering ***
|
||||
if (self.frame % self.p.STEER_STEP) == 0:
|
||||
|
||||
apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
|
||||
|
||||
# limits due to driver torque
|
||||
@@ -41,9 +36,9 @@ class CarController:
|
||||
apply_steer = 0
|
||||
|
||||
if self.CP.carFingerprint in PREGLOBAL_CARS:
|
||||
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
|
||||
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive, self.frame, self.p.STEER_STEP))
|
||||
else:
|
||||
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
|
||||
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
@@ -51,7 +46,7 @@ class CarController:
|
||||
# *** alerts and pcm cancel ***
|
||||
|
||||
if self.CP.carFingerprint in PREGLOBAL_CARS:
|
||||
if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
|
||||
if self.frame % 5 == 0:
|
||||
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
|
||||
# disengage ACC when OP is disengaged
|
||||
if pcm_cancel_cmd:
|
||||
@@ -68,7 +63,6 @@ class CarController:
|
||||
self.cruise_button_prev = cruise_button
|
||||
|
||||
can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
|
||||
self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
|
||||
|
||||
else:
|
||||
if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
|
||||
@@ -76,19 +70,15 @@ class CarController:
|
||||
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
|
||||
self.last_cancel_frame = self.frame
|
||||
|
||||
if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
|
||||
if self.frame % 10 == 0:
|
||||
can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
|
||||
self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
|
||||
|
||||
if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]:
|
||||
can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.latActive, CS.madsEnabled, hud_control.visualAlert,
|
||||
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
|
||||
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
|
||||
self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"]
|
||||
|
||||
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]:
|
||||
can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
|
||||
self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"]
|
||||
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
|
||||
can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
|
||||
|
||||
@@ -125,6 +125,7 @@ class CarState(CarStateBase):
|
||||
def get_global_es_distance_signals():
|
||||
signals = [
|
||||
("COUNTER", "ES_Distance"),
|
||||
("CHECKSUM", "ES_Distance"),
|
||||
("Signal1", "ES_Distance"),
|
||||
("Cruise_Fault", "ES_Distance"),
|
||||
("Cruise_Throttle", "ES_Distance"),
|
||||
@@ -268,6 +269,7 @@ class CarState(CarStateBase):
|
||||
else:
|
||||
signals = [
|
||||
("COUNTER", "ES_DashStatus"),
|
||||
("CHECKSUM", "ES_DashStatus"),
|
||||
("PCB_Off", "ES_DashStatus"),
|
||||
("LDW_Off", "ES_DashStatus"),
|
||||
("Signal1", "ES_DashStatus"),
|
||||
@@ -295,6 +297,7 @@ class CarState(CarStateBase):
|
||||
("Cruise_State", "ES_DashStatus"),
|
||||
|
||||
("COUNTER", "ES_LKAS_State"),
|
||||
("CHECKSUM", "ES_LKAS_State"),
|
||||
("LKAS_Alert_Msg", "ES_LKAS_State"),
|
||||
("Signal1", "ES_LKAS_State"),
|
||||
("LKAS_ACTIVE", "ES_LKAS_State"),
|
||||
@@ -322,6 +325,8 @@ class CarState(CarStateBase):
|
||||
|
||||
if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
|
||||
signals += [
|
||||
("COUNTER", "INFOTAINMENT_STATUS"),
|
||||
("CHECKSUM", "INFOTAINMENT_STATUS"),
|
||||
("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"),
|
||||
("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"),
|
||||
("Signal1", "INFOTAINMENT_STATUS"),
|
||||
|
||||
@@ -1,13 +1,12 @@
|
||||
import copy
|
||||
from cereal import car
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
|
||||
def create_steering_control(packer, apply_steer):
|
||||
def create_steering_control(packer, apply_steer, steer_req):
|
||||
values = {
|
||||
"LKAS_Output": apply_steer,
|
||||
"LKAS_Request": 1 if apply_steer != 0 else 0,
|
||||
"LKAS_Request": steer_req,
|
||||
"SET_1": 1
|
||||
}
|
||||
return packer.make_can_msg("ES_LKAS", 0, values)
|
||||
@@ -18,7 +17,28 @@ def create_steering_status(packer):
|
||||
|
||||
|
||||
def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
|
||||
values = copy.copy(es_distance_msg)
|
||||
values = {s: es_distance_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
"COUNTER",
|
||||
"Signal1",
|
||||
"Cruise_Fault",
|
||||
"Cruise_Throttle",
|
||||
"Signal2",
|
||||
"Car_Follow",
|
||||
"Signal3",
|
||||
"Cruise_Soft_Disable",
|
||||
"Signal7",
|
||||
"Cruise_Brake_Active",
|
||||
"Distance_Swap",
|
||||
"Cruise_EPB",
|
||||
"Signal4",
|
||||
"Close_Distance",
|
||||
"Signal5",
|
||||
"Cruise_Cancel",
|
||||
"Cruise_Set",
|
||||
"Cruise_Resume",
|
||||
"Signal6",
|
||||
]}
|
||||
values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
|
||||
if pcm_cancel_cmd:
|
||||
values["Cruise_Cancel"] = 1
|
||||
@@ -26,8 +46,24 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
|
||||
|
||||
|
||||
def create_es_lkas_state(packer, es_lkas_state_msg, lat_active, mads_enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
|
||||
values = copy.copy(es_lkas_state_msg)
|
||||
values = {s: es_lkas_state_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
"COUNTER",
|
||||
"LKAS_Alert_Msg",
|
||||
"Signal1",
|
||||
"LKAS_ACTIVE",
|
||||
"LKAS_Dash_State",
|
||||
"Signal2",
|
||||
"Backward_Speed_Limit_Menu",
|
||||
"LKAS_Left_Line_Enable",
|
||||
"LKAS_Left_Line_Light_Blink",
|
||||
"LKAS_Right_Line_Enable",
|
||||
"LKAS_Right_Line_Light_Blink",
|
||||
"LKAS_Left_Line_Visible",
|
||||
"LKAS_Right_Line_Visible",
|
||||
"LKAS_Alert",
|
||||
"Signal3",
|
||||
]}
|
||||
|
||||
# Filter the stock LKAS "Keep hands on wheel" alert
|
||||
if values["LKAS_Alert_Msg"] == 1:
|
||||
@@ -73,7 +109,35 @@ def create_es_lkas_state(packer, es_lkas_state_msg, lat_active, mads_enabled, vi
|
||||
|
||||
|
||||
def create_es_dashstatus(packer, dashstatus_msg):
|
||||
values = copy.copy(dashstatus_msg)
|
||||
values = {s: dashstatus_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
"COUNTER",
|
||||
"PCB_Off",
|
||||
"LDW_Off",
|
||||
"Signal1",
|
||||
"Cruise_State_Msg",
|
||||
"LKAS_State_Msg",
|
||||
"Signal2",
|
||||
"Cruise_Soft_Disable",
|
||||
"Cruise_Status_Msg",
|
||||
"Signal3",
|
||||
"Cruise_Distance",
|
||||
"Signal4",
|
||||
"Conventional_Cruise",
|
||||
"Signal5",
|
||||
"Cruise_Disengaged",
|
||||
"Cruise_Activated",
|
||||
"Signal6",
|
||||
"Cruise_Set_Speed",
|
||||
"Cruise_Fault",
|
||||
"Cruise_On",
|
||||
"Display_Own_Car",
|
||||
"Brake_Lights",
|
||||
"Car_Follow",
|
||||
"Signal7",
|
||||
"Far_Distance",
|
||||
"Cruise_State",
|
||||
]}
|
||||
|
||||
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
|
||||
if values["LKAS_State_Msg"] in (2, 3):
|
||||
@@ -84,18 +148,26 @@ def create_es_dashstatus(packer, dashstatus_msg):
|
||||
|
||||
def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
|
||||
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
|
||||
if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4):
|
||||
infotainmentstatus_msg["LKAS_State_Infotainment"] = 0
|
||||
values = {s: infotainmentstatus_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
"COUNTER",
|
||||
"LKAS_State_Infotainment",
|
||||
"LKAS_Blue_Lines",
|
||||
"Signal1",
|
||||
"Signal2",
|
||||
]}
|
||||
if values["LKAS_State_Infotainment"] in (3, 4):
|
||||
values["LKAS_State_Infotainment"] = 0
|
||||
|
||||
# Show Keep hands on wheel alert for openpilot steerRequired alert
|
||||
if visual_alert == VisualAlert.steerRequired:
|
||||
infotainmentstatus_msg["LKAS_State_Infotainment"] = 3
|
||||
values["LKAS_State_Infotainment"] = 3
|
||||
|
||||
# Show Obstacle Detected for fcw
|
||||
if visual_alert == VisualAlert.fcw:
|
||||
infotainmentstatus_msg["LKAS_State_Infotainment"] = 2
|
||||
values["LKAS_State_Infotainment"] = 2
|
||||
|
||||
return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg)
|
||||
return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values)
|
||||
|
||||
|
||||
# *** Subaru Pre-global ***
|
||||
@@ -105,14 +177,14 @@ def subaru_preglobal_checksum(packer, values, addr):
|
||||
return (sum(dat[:7])) % 256
|
||||
|
||||
|
||||
def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
|
||||
def create_preglobal_steering_control(packer, apply_steer, steer_req, frame, steer_step):
|
||||
|
||||
idx = (frame / steer_step) % 8
|
||||
|
||||
values = {
|
||||
"COUNTER": idx,
|
||||
"LKAS_Command": apply_steer,
|
||||
"LKAS_Active": 1 if apply_steer != 0 else 0
|
||||
"LKAS_Active": steer_req,
|
||||
}
|
||||
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
|
||||
|
||||
@@ -120,9 +192,27 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
|
||||
|
||||
|
||||
def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
|
||||
values = copy.copy(es_distance_msg)
|
||||
values["Cruise_Button"] = cruise_button
|
||||
values = {s: es_distance_msg[s] for s in [
|
||||
"Cruise_Throttle",
|
||||
"Signal1",
|
||||
"Car_Follow",
|
||||
"Signal2",
|
||||
"Brake_On",
|
||||
"Distance_Swap",
|
||||
"Standstill",
|
||||
"Signal3",
|
||||
"Close_Distance",
|
||||
"Signal4",
|
||||
"Standstill_2",
|
||||
"Cruise_Fault",
|
||||
"Signal5",
|
||||
"COUNTER",
|
||||
"Signal6",
|
||||
"Cruise_Button",
|
||||
"Signal7",
|
||||
]}
|
||||
|
||||
values["Cruise_Button"] = cruise_button
|
||||
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
|
||||
|
||||
return packer.make_can_msg("ES_Distance", 0, values)
|
||||
|
||||
@@ -6,7 +6,7 @@ from typing import Dict, List, Union
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -56,13 +56,13 @@ class CAR:
|
||||
@dataclass
|
||||
class SubaruCarInfo(CarInfo):
|
||||
package: str = "EyeSight Driver Assistance"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.subaru_a)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.subaru_a])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
|
||||
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
|
||||
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)),
|
||||
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)),
|
||||
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
|
||||
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
|
||||
CAR.IMPREZA: [
|
||||
SubaruCarInfo("Subaru Impreza 2017-19"),
|
||||
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
|
||||
@@ -513,6 +513,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x82\xe2,\xa0@\x07',
|
||||
b'\xbc"`q\x07',
|
||||
b'\xe3,\xa0@\x07',
|
||||
b'\xbc,\xa0u\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xa5\xfe\xf7@\x00',
|
||||
@@ -522,6 +523,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x82\xa7\xf6D@\x00',
|
||||
b'\xa7\xf6D@\x00',
|
||||
b'\xa7\xfe\xf4@\x00',
|
||||
b'\xa5\xfe\xf8@\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
@@ -24,17 +24,18 @@ class CarController:
|
||||
hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
|
||||
lkas_enabled = CC.latActive and not hands_on_fault
|
||||
|
||||
if lkas_enabled:
|
||||
# Angular rate limit based on speed
|
||||
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
|
||||
if self.frame % 2 == 0:
|
||||
if lkas_enabled:
|
||||
# Angular rate limit based on speed
|
||||
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
|
||||
|
||||
# To not fault the EPS
|
||||
apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
|
||||
else:
|
||||
apply_angle = CS.out.steeringAngleDeg
|
||||
# To not fault the EPS
|
||||
apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
|
||||
else:
|
||||
apply_angle = CS.out.steeringAngleDeg
|
||||
|
||||
self.apply_angle_last = apply_angle
|
||||
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame))
|
||||
self.apply_angle_last = apply_angle
|
||||
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
|
||||
|
||||
# Longitudinal control (in sync with stock message, about 40Hz)
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
@@ -59,7 +60,7 @@ class CarController:
|
||||
# TODO: HUD control
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steeringAngleDeg = apply_angle
|
||||
new_actuators.steeringAngleDeg = self.apply_angle_last
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
import copy
|
||||
import crcmod
|
||||
|
||||
from common.conversions import Conversions as CV
|
||||
@@ -18,12 +17,12 @@ class TeslaCAN:
|
||||
ret += sum(dat)
|
||||
return ret & 0xFF
|
||||
|
||||
def create_steering_control(self, angle, enabled, frame):
|
||||
def create_steering_control(self, angle, enabled, counter):
|
||||
values = {
|
||||
"DAS_steeringAngleRequest": -angle,
|
||||
"DAS_steeringHapticRequest": 0,
|
||||
"DAS_steeringControlType": 1 if enabled else 0,
|
||||
"DAS_steeringControlCounter": (frame % 16),
|
||||
"DAS_steeringControlCounter": counter,
|
||||
}
|
||||
|
||||
data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
|
||||
@@ -31,7 +30,40 @@ class TeslaCAN:
|
||||
return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
|
||||
|
||||
def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
|
||||
values = copy.copy(msg_stw_actn_req)
|
||||
# We copy this whole message when spamming cancel
|
||||
values = {s: msg_stw_actn_req[s] for s in [
|
||||
"SpdCtrlLvr_Stat",
|
||||
"VSL_Enbl_Rq",
|
||||
"SpdCtrlLvrStat_Inv",
|
||||
"DTR_Dist_Rq",
|
||||
"TurnIndLvr_Stat",
|
||||
"HiBmLvr_Stat",
|
||||
"WprWashSw_Psd",
|
||||
"WprWash_R_Sw_Posn_V2",
|
||||
"StW_Lvr_Stat",
|
||||
"StW_Cond_Flt",
|
||||
"StW_Cond_Psd",
|
||||
"HrnSw_Psd",
|
||||
"StW_Sw00_Psd",
|
||||
"StW_Sw01_Psd",
|
||||
"StW_Sw02_Psd",
|
||||
"StW_Sw03_Psd",
|
||||
"StW_Sw04_Psd",
|
||||
"StW_Sw05_Psd",
|
||||
"StW_Sw06_Psd",
|
||||
"StW_Sw07_Psd",
|
||||
"StW_Sw08_Psd",
|
||||
"StW_Sw09_Psd",
|
||||
"StW_Sw10_Psd",
|
||||
"StW_Sw11_Psd",
|
||||
"StW_Sw12_Psd",
|
||||
"StW_Sw13_Psd",
|
||||
"StW_Sw14_Psd",
|
||||
"StW_Sw15_Psd",
|
||||
"WprSw6Posn",
|
||||
"MC_STW_ACTN_RQ",
|
||||
"CRC_STW_ACTN_RQ",
|
||||
]}
|
||||
|
||||
if cancel:
|
||||
values["SpdCtrlLvr_Stat"] = 1
|
||||
|
||||
@@ -103,8 +103,8 @@ BUTTONS = [
|
||||
]
|
||||
|
||||
class CarControllerParams:
|
||||
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
|
||||
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
|
||||
JERK_LIMIT_MAX = 8
|
||||
JERK_LIMIT_MIN = -8
|
||||
ACCEL_TO_SPEED_MULTIPLIER = 3
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
import unittest
|
||||
from hypothesis import given, settings
|
||||
import importlib
|
||||
from parameterized import parameterized
|
||||
|
||||
@@ -8,12 +9,15 @@ from cereal import car
|
||||
from selfdrive.car import gen_empty_fingerprint
|
||||
from selfdrive.car.car_helpers import interfaces
|
||||
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
|
||||
from selfdrive.test.fuzzy_generation import get_random_msg
|
||||
|
||||
|
||||
class TestCarInterfaces(unittest.TestCase):
|
||||
|
||||
@parameterized.expand([(car,) for car in all_known_cars()])
|
||||
def test_car_interfaces(self, car_name):
|
||||
@settings(max_examples=5)
|
||||
@given(cc_msg=get_random_msg(car.CarControl, real_floats=True))
|
||||
def test_car_interfaces(self, car_name, cc_msg):
|
||||
if car_name in FINGERPRINTS:
|
||||
fingerprint = FINGERPRINTS[car_name][0]
|
||||
else:
|
||||
@@ -57,13 +61,13 @@ class TestCarInterfaces(unittest.TestCase):
|
||||
self.assertTrue(len(tune.indi.outerLoopGainV))
|
||||
|
||||
# Run car interface
|
||||
CC = car.CarControl.new_message()
|
||||
CC = car.CarControl.new_message(**cc_msg)
|
||||
for _ in range(10):
|
||||
car_interface.update(CC, [])
|
||||
car_interface.apply(CC, 0)
|
||||
car_interface.apply(CC, 0)
|
||||
|
||||
CC = car.CarControl.new_message()
|
||||
CC = car.CarControl.new_message(**cc_msg)
|
||||
CC.enabled = True
|
||||
for _ in range(10):
|
||||
car_interface.update(CC, [])
|
||||
|
||||
@@ -1,12 +1,16 @@
|
||||
#!/usr/bin/env python3
|
||||
from collections import defaultdict
|
||||
import os
|
||||
import re
|
||||
import unittest
|
||||
|
||||
from common.basedir import BASEDIR
|
||||
from selfdrive.car.car_helpers import interfaces, get_interface_attr
|
||||
from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
|
||||
from selfdrive.car.docs_definitions import Column, Harness, Star
|
||||
from selfdrive.car.docs_definitions import Cable, Column, PartType, Star
|
||||
from selfdrive.car.honda.values import CAR as HONDA
|
||||
from selfdrive.debug.dump_car_info import dump_car_info
|
||||
from selfdrive.debug.print_docs_diff import print_car_info_diff
|
||||
|
||||
|
||||
class TestCarDocs(unittest.TestCase):
|
||||
@@ -22,6 +26,12 @@ class TestCarDocs(unittest.TestCase):
|
||||
self.assertEqual(generated_cars_md, current_cars_md,
|
||||
"Run selfdrive/car/docs.py to update the compatibility documentation")
|
||||
|
||||
def test_docs_diff(self):
|
||||
dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
|
||||
dump_car_info(dump_path)
|
||||
print_car_info_diff(dump_path)
|
||||
os.remove(dump_path)
|
||||
|
||||
def test_duplicate_years(self):
|
||||
make_model_years = defaultdict(list)
|
||||
for car in self.all_cars:
|
||||
@@ -74,8 +84,12 @@ class TestCarDocs(unittest.TestCase):
|
||||
if car.name == "comma body":
|
||||
raise unittest.SkipTest
|
||||
|
||||
self.assertNotIn(car.harness_kit.connector, [None, Harness.none], f"Need to specify car harness: {car.name}")
|
||||
self.assertTrue(car.harness_kit.parts, f"Need to specify harness parts: {car.name} with {car.harness_kit.connector.value} connector")
|
||||
car_part_type = [p.type for p in car.car_parts.all_parts()]
|
||||
car_parts = [p for p in car.car_parts.all_parts()]
|
||||
self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}")
|
||||
self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}")
|
||||
self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}")
|
||||
self.assertTrue(Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -10,7 +10,7 @@ from cereal import car
|
||||
from common.params import Params
|
||||
from selfdrive.car.car_helpers import interfaces
|
||||
from selfdrive.car.fingerprints import FW_VERSIONS
|
||||
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions
|
||||
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions
|
||||
|
||||
CarFw = car.CarParams.CarFw
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -33,27 +33,73 @@ class TestFwFingerprint(unittest.TestCase):
|
||||
self.assertEqual(candidates[0], expected)
|
||||
|
||||
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
|
||||
def test_fw_fingerprint(self, brand, car_model, ecus):
|
||||
def test_exact_match(self, brand, car_model, ecus):
|
||||
CP = car.CarParams.new_message()
|
||||
for _ in range(200):
|
||||
fw = []
|
||||
for ecu, fw_versions in ecus.items():
|
||||
if not len(fw_versions):
|
||||
raise unittest.SkipTest("Car model has no FW versions")
|
||||
ecu_name, addr, sub_addr = ecu
|
||||
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
|
||||
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
|
||||
CP.carFw = fw
|
||||
_, matches = match_fw_to_car(CP.carFw)
|
||||
_, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
|
||||
self.assertFingerprints(matches, car_model)
|
||||
|
||||
def test_no_duplicate_fw_versions(self):
|
||||
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
|
||||
def test_custom_fuzzy_match(self, brand, car_model, ecus):
|
||||
# Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
|
||||
config = FW_QUERY_CONFIGS[brand]
|
||||
if config.match_fw_to_car_fuzzy is None:
|
||||
raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function")
|
||||
|
||||
CP = car.CarParams.new_message()
|
||||
for _ in range(5):
|
||||
fw = []
|
||||
for ecu, fw_versions in ecus.items():
|
||||
ecu_name, addr, sub_addr = ecu
|
||||
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
|
||||
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
|
||||
CP.carFw = fw
|
||||
_, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
|
||||
brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
|
||||
|
||||
# If both have matches, they must agree
|
||||
if len(matches) == 1 and len(brand_matches) == 1:
|
||||
self.assertEqual(matches, brand_matches)
|
||||
|
||||
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
|
||||
def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
|
||||
# Asserts that fuzzy matching does not count matching FW, but ECU address keys
|
||||
valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
|
||||
if not len(valid_ecus):
|
||||
raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching")
|
||||
|
||||
fw = []
|
||||
for ecu in valid_ecus:
|
||||
ecu_name, addr, sub_addr = ecu
|
||||
for _ in range(5):
|
||||
# Add multiple FW versions to simulate ECU returning to multiple queries in a brand
|
||||
fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
|
||||
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
|
||||
CP = car.CarParams.new_message(carFw=fw)
|
||||
_, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
|
||||
|
||||
# Assert no match if there are not enough unique ECUs
|
||||
unique_ecus = {(f['address'], f['subAddress']) for f in fw}
|
||||
if len(unique_ecus) < 2:
|
||||
self.assertEqual(len(matches), 0, car_model)
|
||||
# There won't always be a match due to shared FW, but if there is it should be correct
|
||||
elif len(matches):
|
||||
self.assertFingerprints(matches, car_model)
|
||||
|
||||
def test_fw_version_lists(self):
|
||||
for car_model, ecus in FW_VERSIONS.items():
|
||||
with self.subTest(car_model=car_model):
|
||||
for ecu, ecu_fw in ecus.items():
|
||||
with self.subTest(ecu):
|
||||
duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
|
||||
self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
|
||||
self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}')
|
||||
self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}')
|
||||
|
||||
def test_all_addrs_map_to_one_ecu(self):
|
||||
for brand, cars in VERSIONS.items():
|
||||
@@ -168,7 +214,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
|
||||
if not len(multi_panda_requests) and num_pandas > 1:
|
||||
raise unittest.SkipTest("No multi-panda FW queries")
|
||||
|
||||
avg_time = self._benchmark(brand, num_pandas, 10)
|
||||
avg_time = self._benchmark(brand, num_pandas, 5)
|
||||
total_time += avg_time
|
||||
self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
|
||||
print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
|
||||
|
||||
@@ -6,7 +6,7 @@ from typing import Dict, List, Union
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -102,7 +102,7 @@ class Footnote(Enum):
|
||||
@dataclass
|
||||
class ToyotaCarInfo(CarInfo):
|
||||
package: str = "All"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.toyota)
|
||||
car_parts: CarParts = CarParts.common([CarHarness.toyota])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
||||
@@ -1131,7 +1131,6 @@ FW_VERSIONS = {
|
||||
b'\x01896630EF8000\x00\x00\x00\x00',
|
||||
b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
],
|
||||
|
||||
@@ -170,8 +170,7 @@ class CarController:
|
||||
|
||||
gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
|
||||
if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
|
||||
counter = (CS.gra_stock_values["COUNTER"] + 1) % 16
|
||||
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter,
|
||||
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
|
||||
cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
|
||||
if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled:
|
||||
if gra_send_ready and not self.CP.pcmCruiseSpeed:
|
||||
|
||||
@@ -11,7 +11,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
|
||||
|
||||
|
||||
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, lat_active, steering_pressed, hud_alert, hud_control):
|
||||
values = ldw_stock_values.copy()
|
||||
values = {}
|
||||
if len(ldw_stock_values):
|
||||
values = {s: ldw_stock_values[s] for s in [
|
||||
"LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure
|
||||
"LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure
|
||||
"LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right)
|
||||
"LDW_DLC", # Lane departure, distance to line crossing
|
||||
"LDW_TLC", # Lane departure, time to line crossing
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
|
||||
@@ -23,8 +31,14 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, lat_active, s
|
||||
return packer.make_can_msg("LDW_02", bus, values)
|
||||
|
||||
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, counter, buttons=0, cancel=False, resume=False):
|
||||
values = gra_stock_values.copy()
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, buttons=0, cancel=False, resume=False):
|
||||
values = {s: gra_stock_values[s] for s in [
|
||||
"GRA_Hauptschalter", # ACC button, on/off
|
||||
"GRA_Typ_Hauptschalter", # ACC main button type
|
||||
"GRA_Codierung", # ACC button configuration/coding
|
||||
"GRA_Tip_Stufe_2", # unknown related to stalk type
|
||||
"GRA_ButtonTypeInfo", # unknown related to stalk type
|
||||
]}
|
||||
|
||||
accel_cruise = 1 if buttons == 1 else 0
|
||||
decel_cruise = 1 if buttons == 2 else 0
|
||||
@@ -32,7 +46,7 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, buttons=0
|
||||
set_cruise = 1 if buttons == 4 else 0
|
||||
|
||||
values.update({
|
||||
"COUNTER": counter,
|
||||
"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
|
||||
"GRA_Abbrechen": cancel,
|
||||
"GRA_Tip_Wiederaufnahme": resume or resume_cruise,
|
||||
"GRA_Tip_Setzen": set_cruise,
|
||||
|
||||
@@ -10,7 +10,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
|
||||
|
||||
|
||||
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, lat_active, steering_pressed, hud_alert, hud_control):
|
||||
values = ldw_stock_values.copy()
|
||||
values = {}
|
||||
if len(ldw_stock_values):
|
||||
values = {s: ldw_stock_values[s] for s in [
|
||||
"LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure
|
||||
"LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure
|
||||
"LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right)
|
||||
"LDW_DLC", # Lane departure, distance to line crossing
|
||||
"LDW_TLC", # Lane departure, time to line crossing
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0,
|
||||
@@ -23,8 +31,13 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, lat_active, s
|
||||
return packer.make_can_msg("LDW_Status", bus, values)
|
||||
|
||||
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, counter, buttons=0, cancel=False, resume=False):
|
||||
values = gra_stock_values.copy()
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, buttons=0, cancel=False, resume=False):
|
||||
values = {s: gra_stock_values[s] for s in [
|
||||
"GRA_Hauptschalt", # ACC button, on/off
|
||||
"GRA_Typ_Hauptschalt", # ACC button, momentary vs latching
|
||||
"GRA_Kodierinfo", # ACC button, configuration
|
||||
"GRA_Sender", # ACC button, CAN message originator
|
||||
]}
|
||||
|
||||
accel_cruise = 1 if buttons == 1 else 0
|
||||
decel_cruise = 1 if buttons == 2 else 0
|
||||
@@ -32,7 +45,7 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, buttons=0
|
||||
set_cruise = 1 if buttons == 4 else 0
|
||||
|
||||
values.update({
|
||||
"COUNTER": counter,
|
||||
"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
|
||||
"GRA_Abbrechen": cancel,
|
||||
"GRA_Recall": resume or resume_cruise,
|
||||
"GRA_Neu_Setzen": set_cruise,
|
||||
|
||||
@@ -7,7 +7,8 @@ from cereal import car
|
||||
from panda.python import uds
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
|
||||
Device
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -163,23 +164,32 @@ class Footnote(Enum):
|
||||
PASSAT = CarFootnote(
|
||||
"Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
|
||||
Column.MODEL)
|
||||
VW_EXP_LONG = CarFootnote (
|
||||
SKODA_HEATED_WINDSHIELD = CarFootnote(
|
||||
"Some Škoda vehicles are equipped with heated windshields, which are known " +
|
||||
"to block GPS signal needed for some comma three functionality.",
|
||||
Column.MODEL)
|
||||
VW_EXP_LONG = CarFootnote(
|
||||
"Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
|
||||
"are limited to using stock ACC.",
|
||||
Column.LONGITUDINAL)
|
||||
VW_MQB_A0 = CarFootnote(
|
||||
"Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " +
|
||||
"in software, but doesn't yet have a harness available from the comma store.",
|
||||
Column.HARNESS)
|
||||
Column.HARDWARE)
|
||||
|
||||
|
||||
@dataclass
|
||||
class VWCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
|
||||
harness_kit: HarnessKit = HarnessKit(Harness.j533, parts=[HarnessPart.harness_box, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
|
||||
car_parts: CarParts = CarParts.common([CarHarness.j533])
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
self.footnotes.insert(0, Footnote.VW_EXP_LONG)
|
||||
self.footnotes.append(Footnote.VW_EXP_LONG)
|
||||
if "SKODA" in CP.carFingerprint:
|
||||
self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
|
||||
|
||||
if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
|
||||
self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533])
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
@@ -205,11 +215,11 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
],
|
||||
CAR.GOLF_MK7: [
|
||||
VWCarInfo("Volkswagen e-Golf 2014-20"),
|
||||
VWCarInfo("Volkswagen Golf 2015-20"),
|
||||
VWCarInfo("Volkswagen Golf Alltrack 2015-19"),
|
||||
VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False),
|
||||
VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
|
||||
VWCarInfo("Volkswagen Golf GTD 2015-20"),
|
||||
VWCarInfo("Volkswagen Golf GTE 2015-20"),
|
||||
VWCarInfo("Volkswagen Golf GTI 2015-21"),
|
||||
VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False),
|
||||
VWCarInfo("Volkswagen Golf R 2015-19"),
|
||||
VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
|
||||
],
|
||||
@@ -237,7 +247,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
VWCarInfo("Volkswagen Tiguan 2018-23"),
|
||||
VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
|
||||
],
|
||||
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
|
||||
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
|
||||
CAR.TRANSPORTER_T61: [
|
||||
VWCarInfo("Volkswagen Caravelle 2020"),
|
||||
VWCarInfo("Volkswagen California 2021"),
|
||||
@@ -302,33 +312,35 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
FW_VERSIONS = {
|
||||
CAR.ARTEON_MK1: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x873G0906259M \xf1\x890003',
|
||||
b'\xf1\x873G0906259F \xf1\x890004',
|
||||
b'\xf1\x873G0906259G \xf1\x890004',
|
||||
b'\xf1\x873G0906259G \xf1\x890005',
|
||||
b'\xf1\x873G0906259M \xf1\x890003',
|
||||
b'\xf1\x873G0906259N \xf1\x890004',
|
||||
b'\xf1\x873G0906259P \xf1\x890001',
|
||||
b'\xf1\x875NA907115H \xf1\x890002',
|
||||
b'\xf1\x873G0906259G \xf1\x890004',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870DL300014C \xf1\x893704',
|
||||
b'\xf1\x8709G927158L \xf1\x893611',
|
||||
b'\xf1\x870DL300014C \xf1\x893704',
|
||||
b'\xf1\x870GC300011L \xf1\x891401',
|
||||
b'\xf1\x870GC300014M \xf1\x892802',
|
||||
b'\xf1\x870GC300040P \xf1\x891401',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49',
|
||||
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900',
|
||||
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
|
||||
b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
|
||||
b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
|
||||
b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900',
|
||||
b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
|
||||
b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
|
||||
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
|
||||
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
|
||||
b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
|
||||
b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x872Q0907572AA\xf1\x890396',
|
||||
@@ -402,6 +414,7 @@ FW_VERSIONS = {
|
||||
CAR.GOLF_MK7: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8704E906016A \xf1\x897697',
|
||||
b'\xf1\x8704E906016N \xf1\x899105',
|
||||
b'\xf1\x8704E906016AD\xf1\x895758',
|
||||
b'\xf1\x8704E906016CE\xf1\x899096',
|
||||
b'\xf1\x8704E906016CH\xf1\x899226',
|
||||
@@ -544,6 +557,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
|
||||
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
|
||||
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
|
||||
@@ -641,6 +655,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870DD300045T \xf1\x891601',
|
||||
b'\xf1\x870DL300011H \xf1\x895201',
|
||||
b'\xf1\x870CW300042H \xf1\x891601',
|
||||
b'\xf1\x870CW300042H \xf1\x891607',
|
||||
b'\xf1\x870GC300042H \xf1\x891404',
|
||||
b'\xf1\x870D9300018C \xf1\x895297',
|
||||
b'\xf1\x870GC300043 \xf1\x892301',
|
||||
@@ -648,6 +663,7 @@ FW_VERSIONS = {
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
|
||||
b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211',
|
||||
b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311',
|
||||
b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
|
||||
b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
|
||||
b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
|
||||
@@ -664,6 +680,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703',
|
||||
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
|
||||
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
|
||||
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905',
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
|
||||
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
|
||||
@@ -676,6 +693,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x873Q0907572B \xf1\x890192',
|
||||
b'\xf1\x873Q0907572C \xf1\x890195',
|
||||
b'\xf1\x873Q0907572C \xf1\x890196',
|
||||
b'\xf1\x875Q0907572P \xf1\x890682',
|
||||
b'\xf1\x875Q0907572R \xf1\x890771',
|
||||
],
|
||||
},
|
||||
@@ -870,24 +888,28 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704L906056AL\xf1\x899970',
|
||||
b'\xf1\x8704L906057AP\xf1\x891186',
|
||||
b'\xf1\x8704L906057N \xf1\x890413',
|
||||
b'\xf1\x8705L906023E \xf1\x891352',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870BT300012G \xf1\x893102',
|
||||
b'\xf1\x870BT300012E \xf1\x893105',
|
||||
b'\xf1\x870BT300046R \xf1\x893102',
|
||||
b'\xf1\x870DV300012B \xf1\x893701',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
|
||||
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411',
|
||||
b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
|
||||
b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
|
||||
b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
|
||||
b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
|
||||
b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x872Q0907572R \xf1\x890372',
|
||||
b'\xf1\x872Q0907572AA\xf1\x890396',
|
||||
],
|
||||
},
|
||||
CAR.TROC_MK1: {
|
||||
@@ -917,6 +939,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704E906027CJ\xf1\x897798',
|
||||
b'\xf1\x8704L997022N \xf1\x899459',
|
||||
b'\xf1\x875G0906259A \xf1\x890004',
|
||||
b'\xf1\x875G0906259D \xf1\x890002',
|
||||
b'\xf1\x875G0906259L \xf1\x890002',
|
||||
b'\xf1\x875G0906259Q \xf1\x890002',
|
||||
b'\xf1\x878V0906259F \xf1\x890002',
|
||||
@@ -926,7 +949,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x878V0906264B \xf1\x890003',
|
||||
b'\xf1\x878V0907115B \xf1\x890007',
|
||||
b'\xf1\x878V0907404A \xf1\x890005',
|
||||
b'\xf1\x875G0906259D \xf1\x890002',
|
||||
b'\xf1\x878V0907404G \xf1\x890005',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870CW300044T \xf1\x895245',
|
||||
@@ -943,6 +966,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870DD300046F \xf1\x891602',
|
||||
b'\xf1\x870DD300046G \xf1\x891601',
|
||||
b'\xf1\x870DL300012E \xf1\x892012',
|
||||
b'\xf1\x870DL300012H \xf1\x892112',
|
||||
b'\xf1\x870GC300011 \xf1\x890403',
|
||||
b'\xf1\x870GC300013M \xf1\x892402',
|
||||
b'\xf1\x870GC300042J \xf1\x891402',
|
||||
@@ -955,9 +979,9 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
|
||||
b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
|
||||
b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
|
||||
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
|
||||
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
|
||||
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
|
||||
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221',
|
||||
b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114',
|
||||
b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114',
|
||||
],
|
||||
@@ -966,6 +990,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
|
||||
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
|
||||
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
|
||||
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1',
|
||||
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
|
||||
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
|
||||
@@ -1055,24 +1080,29 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704L906021EL\xf1\x897542',
|
||||
b'\xf1\x8704L906026BP\xf1\x891198',
|
||||
b'\xf1\x8704L906026BP\xf1\x897608',
|
||||
b'\xf1\x8704L906056CR\xf1\x892181',
|
||||
b'\xf1\x8704L906056CR\xf1\x892797',
|
||||
b'\xf1\x8705E906018AS\xf1\x899596',
|
||||
b'\xf1\x878V0906264H \xf1\x890005',
|
||||
b'\xf1\x878V0907115E \xf1\x890002',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870CW300041D \xf1\x891004',
|
||||
b'\xf1\x870CW300041G \xf1\x891003',
|
||||
b'\xf1\x870CW300050J \xf1\x891908',
|
||||
b'\xf1\x870D9300042M \xf1\x895016',
|
||||
b'\xf1\x870GC300043A \xf1\x892304',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
|
||||
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
|
||||
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
|
||||
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
|
||||
b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
|
||||
b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1',
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1',
|
||||
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
|
||||
@@ -1083,6 +1113,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0907572H \xf1\x890620',
|
||||
b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
|
||||
b'\xf1\x875Q0907572P \xf1\x890682',
|
||||
b'\xf1\x875Q0907572R \xf1\x890771',
|
||||
],
|
||||
},
|
||||
CAR.SKODA_FABIA_MK4: {
|
||||
@@ -1121,6 +1152,7 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.SKODA_KAROQ_MK1: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8705E906018P \xf1\x895472',
|
||||
b'\xf1\x8705E906018P \xf1\x896020',
|
||||
b'\xf1\x8705L906022BS\xf1\x890913',
|
||||
],
|
||||
@@ -1129,14 +1161,17 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870GC300014L \xf1\x892802',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100',
|
||||
b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
|
||||
b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x872Q0907572AB\xf1\x890397',
|
||||
b'\xf1\x872Q0907572M \xf1\x890233',
|
||||
b'\xf1\x872Q0907572T \xf1\x890383',
|
||||
],
|
||||
@@ -1144,6 +1179,7 @@ FW_VERSIONS = {
|
||||
CAR.SKODA_KODIAQ_MK1: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8704E906027DD\xf1\x893123',
|
||||
b'\xf1\x8704E906027NB\xf1\x896517',
|
||||
b'\xf1\x8704L906026DE\xf1\x895418',
|
||||
b'\xf1\x8704L906026EJ\xf1\x893661',
|
||||
b'\xf1\x8704L906026HT\xf1\x893617',
|
||||
@@ -1152,6 +1188,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8705E906018DJ\xf1\x891903',
|
||||
b'\xf1\x875NA907115E \xf1\x890003',
|
||||
b'\xf1\x875NA907115E \xf1\x890005',
|
||||
b'\xf1\x875NA906259E \xf1\x890003',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870D9300043 \xf1\x895202',
|
||||
@@ -1160,6 +1197,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870DL300012N \xf1\x892110',
|
||||
b'\xf1\x870DL300013G \xf1\x892119',
|
||||
b'\xf1\x870GC300014N \xf1\x892801',
|
||||
b'\xf1\x870GC300019H \xf1\x892806',
|
||||
b'\xf1\x870GC300046Q \xf1\x892802',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
@@ -1169,6 +1207,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
|
||||
b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
|
||||
b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
|
||||
b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
|
||||
@@ -1176,6 +1215,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
|
||||
b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
b'\xf1\x872Q0907572Q \xf1\x890342',
|
||||
@@ -1264,9 +1304,10 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870D9300012 \xf1\x894940',
|
||||
b'\xf1\x870D9300013A \xf1\x894905',
|
||||
b'\xf1\x870D9300041H \xf1\x894905',
|
||||
b'\xf1\x870GC300014M \xf1\x892801',
|
||||
b'\xf1\x870GC300043 \xf1\x892301',
|
||||
b'\xf1\x870D9300043F \xf1\x895202',
|
||||
b'\xf1\x870GC300014M \xf1\x892801',
|
||||
b'\xf1\x870GC300019G \xf1\x892803',
|
||||
b'\xf1\x870GC300043 \xf1\x892301',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
|
||||
@@ -1275,6 +1316,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
|
||||
b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
|
||||
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
|
||||
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
|
||||
|
||||
@@ -9,6 +9,7 @@ from common.realtime import sec_since_boot, config_realtime_process, Priority, R
|
||||
from common.profiler import Profiler
|
||||
from common.params import Params, put_nonblocking
|
||||
import cereal.messaging as messaging
|
||||
from cereal.visionipc import VisionIpcClient, VisionStreamType
|
||||
from common.conversions import Conversions as CV
|
||||
from panda import ALTERNATIVE_EXPERIENCE
|
||||
from system.swaglog import cloudlog
|
||||
@@ -20,7 +21,6 @@ from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted
|
||||
from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
|
||||
from selfdrive.controls.lib.longcontrol import LongControl
|
||||
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
|
||||
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
|
||||
from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from selfdrive.controls.lib.events import Events, ET
|
||||
@@ -34,6 +34,7 @@ LANE_DEPARTURE_THRESHOLD = 0.1
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
TESTING_CLOSET = "TESTING_CLOSET" in os.environ
|
||||
NOSENSOR = "NOSENSOR" in os.environ
|
||||
IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "mapd", "gpxd"}
|
||||
|
||||
@@ -82,12 +83,10 @@ class Controls:
|
||||
ignore = ['testJoystick']
|
||||
if SIMULATION:
|
||||
ignore += ['driverCameraState', 'managerState']
|
||||
if self.params.get_bool('WideCameraOnly'):
|
||||
ignore += ['roadCameraState']
|
||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
|
||||
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick'])
|
||||
ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
|
||||
|
||||
if CI is None:
|
||||
# wait for one pandaState and one CAN packet
|
||||
@@ -165,8 +164,6 @@ class Controls:
|
||||
self.LaC = LatControlAngle(self.CP, self.CI)
|
||||
elif self.CP.lateralTuning.which() == 'pid':
|
||||
self.LaC = LatControlPID(self.CP, self.CI)
|
||||
elif self.CP.lateralTuning.which() == 'indi':
|
||||
self.LaC = LatControlINDI(self.CP, self.CI)
|
||||
elif self.CP.lateralTuning.which() == 'torque':
|
||||
self.LaC = LatControlTorque(self.CP, self.CI)
|
||||
|
||||
@@ -188,12 +185,14 @@ class Controls:
|
||||
self.events_prev = []
|
||||
self.current_alert_types = [ET.PERMANENT]
|
||||
self.logged_comm_issue = None
|
||||
self.not_running_prev = None
|
||||
self.last_actuators = car.CarControl.Actuators.new_message()
|
||||
self.steer_limited = False
|
||||
self.desired_curvature = 0.0
|
||||
self.desired_curvature_rate = 0.0
|
||||
self.experimental_mode = False
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP)
|
||||
self.recalibrating_seen = False
|
||||
|
||||
self.reverse_acc_change = False
|
||||
|
||||
@@ -287,7 +286,6 @@ class Controls:
|
||||
if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
|
||||
# under 7% of space free no enable allowed
|
||||
self.events.add(EventName.outOfSpace)
|
||||
# TODO: make tici threshold the same
|
||||
if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
|
||||
self.events.add(EventName.lowMemory)
|
||||
|
||||
@@ -311,7 +309,9 @@ class Controls:
|
||||
if cal_status == log.LiveCalibrationData.Status.uncalibrated:
|
||||
self.events.add(EventName.calibrationIncomplete)
|
||||
elif cal_status == log.LiveCalibrationData.Status.recalibrating:
|
||||
set_offroad_alert("Offroad_Recalibration", True)
|
||||
if not self.recalibrating_seen:
|
||||
set_offroad_alert("Offroad_Recalibration", True)
|
||||
self.recalibrating_seen = True
|
||||
self.events.add(EventName.calibrationRecalibrating)
|
||||
else:
|
||||
self.events.add(EventName.calibrationInvalid)
|
||||
@@ -362,6 +362,9 @@ class Controls:
|
||||
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
|
||||
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
|
||||
self.events.add(EventName.processNotRunning)
|
||||
if not_running != self.not_running_prev:
|
||||
cloudlog.event("process_not_running", not_running=not_running, error=True)
|
||||
self.not_running_prev = not_running
|
||||
else:
|
||||
if not SIMULATION and not self.rk.lagging:
|
||||
if not self.sm.all_alive(self.camera_packets):
|
||||
@@ -403,7 +406,7 @@ class Controls:
|
||||
else:
|
||||
self.logged_comm_issue = None
|
||||
|
||||
if not self.sm['liveParameters'].valid:
|
||||
if not self.sm['liveParameters'].valid and not TESTING_CLOSET:
|
||||
self.events.add(EventName.vehicleModelInvalid)
|
||||
if not self.sm['lateralPlan'].mpcSolutionValid:
|
||||
self.events.add(EventName.plannerError)
|
||||
@@ -467,6 +470,12 @@ class Controls:
|
||||
all_valid = CS.canValid and self.sm.all_checks()
|
||||
timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
|
||||
if all_valid or timed_out or SIMULATION:
|
||||
available_streams = VisionIpcClient.available_streams("camerad", block=False)
|
||||
if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
|
||||
self.sm.ignore_alive.append('roadCameraState')
|
||||
if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
|
||||
self.sm.ignore_alive.append('wideRoadCameraState')
|
||||
|
||||
if not self.read_only:
|
||||
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
|
||||
|
||||
|
||||
@@ -30,7 +30,7 @@
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_UnofficialHardware": {
|
||||
"text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, contact support@comma.ai.",
|
||||
"text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.",
|
||||
"severity": 1
|
||||
},
|
||||
"Offroad_StorageMissing": {
|
||||
|
||||
@@ -1012,12 +1012,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
|
||||
},
|
||||
|
||||
EventName.brakeUnavailable: {
|
||||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
|
||||
ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
|
||||
},
|
||||
|
||||
EventName.reverseGear: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Reverse\nGear",
|
||||
|
||||
@@ -1,120 +0,0 @@
|
||||
import math
|
||||
import numpy as np
|
||||
|
||||
from cereal import log
|
||||
from common.filter_simple import FirstOrderFilter
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.controls.lib.latcontrol import LatControl
|
||||
|
||||
|
||||
class LatControlINDI(LatControl):
|
||||
def __init__(self, CP, CI):
|
||||
super().__init__(CP, CI)
|
||||
self.angle_steers_des = 0.
|
||||
|
||||
A = np.array([[1.0, DT_CTRL, 0.0],
|
||||
[0.0, 1.0, DT_CTRL],
|
||||
[0.0, 0.0, 1.0]])
|
||||
C = np.array([[1.0, 0.0, 0.0],
|
||||
[0.0, 1.0, 0.0]])
|
||||
|
||||
# Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
|
||||
# R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
|
||||
|
||||
# (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
|
||||
# K = np.transpose(K)
|
||||
K = np.array([[7.30262179e-01, 2.07003658e-04],
|
||||
[7.29394177e+00, 1.39159419e-02],
|
||||
[1.71022442e+01, 3.38495381e-02]])
|
||||
|
||||
self.speed = 0.
|
||||
|
||||
self.K = K
|
||||
self.A_K = A - np.dot(K, C)
|
||||
self.x = np.array([[0.], [0.], [0.]])
|
||||
|
||||
self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
|
||||
self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
|
||||
self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
|
||||
self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
|
||||
|
||||
self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
|
||||
self.reset()
|
||||
|
||||
@property
|
||||
def RC(self):
|
||||
return interp(self.speed, self._RC[0], self._RC[1])
|
||||
|
||||
@property
|
||||
def G(self):
|
||||
return interp(self.speed, self._G[0], self._G[1])
|
||||
|
||||
@property
|
||||
def outer_loop_gain(self):
|
||||
return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
|
||||
|
||||
@property
|
||||
def inner_loop_gain(self):
|
||||
return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
|
||||
|
||||
def reset(self):
|
||||
super().reset()
|
||||
self.steer_filter.x = 0.
|
||||
self.speed = 0.
|
||||
|
||||
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
|
||||
self.speed = CS.vEgo
|
||||
# Update Kalman filter
|
||||
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
|
||||
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
|
||||
|
||||
indi_log = log.ControlsState.LateralINDIState.new_message()
|
||||
indi_log.steeringAngleDeg = math.degrees(self.x[0])
|
||||
indi_log.steeringRateDeg = math.degrees(self.x[1])
|
||||
indi_log.steeringAccelDeg = math.degrees(self.x[2])
|
||||
|
||||
steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)
|
||||
steers_des += math.radians(params.angleOffsetDeg)
|
||||
indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
|
||||
|
||||
# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
|
||||
rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
|
||||
indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
|
||||
|
||||
if not active:
|
||||
indi_log.active = False
|
||||
self.steer_filter.x = 0.0
|
||||
output_steer = 0
|
||||
else:
|
||||
# Expected actuator value
|
||||
self.steer_filter.update_alpha(self.RC)
|
||||
self.steer_filter.update(last_actuators.steer)
|
||||
|
||||
# Compute acceleration error
|
||||
rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
|
||||
accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
|
||||
accel_error = accel_sp - self.x[2]
|
||||
|
||||
# Compute change in actuator
|
||||
g_inv = 1. / self.G
|
||||
delta_u = g_inv * accel_error
|
||||
|
||||
# If steering pressed, only allow wind down
|
||||
if CS.steeringPressed and (delta_u * last_actuators.steer > 0):
|
||||
delta_u = 0
|
||||
|
||||
output_steer = self.steer_filter.x + delta_u
|
||||
|
||||
output_steer = clip(output_steer, -self.steer_max, self.steer_max)
|
||||
|
||||
indi_log.active = True
|
||||
indi_log.rateSetPoint = float(rate_sp)
|
||||
indi_log.accelSetPoint = float(accel_sp)
|
||||
indi_log.accelError = float(accel_error)
|
||||
indi_log.delayedOutput = float(self.steer_filter.x)
|
||||
indi_log.delta = float(delta_u)
|
||||
indi_log.output = float(output_steer)
|
||||
indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
|
||||
|
||||
return float(output_steer), float(steers_des), indi_log
|
||||
@@ -140,7 +140,7 @@ class LateralPlanner:
|
||||
self.last_cloudlog_t = t
|
||||
cloudlog.warning("Lateral mpc - nan: True")
|
||||
|
||||
if self.lat_mpc.cost > 20000. or mpc_nans:
|
||||
if self.lat_mpc.cost > 1e6 or mpc_nans:
|
||||
self.solution_invalid_cnt += 1
|
||||
else:
|
||||
self.solution_invalid_cnt = 0
|
||||
|
||||
@@ -183,6 +183,7 @@ def gen_long_ocp():
|
||||
ocp.constraints.x0 = x0
|
||||
ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR])
|
||||
|
||||
|
||||
# We put all constraint cost weights to 0 and only set them at runtime
|
||||
cost_weights = np.zeros(CONSTR_DIM)
|
||||
ocp.cost.zl = cost_weights
|
||||
|
||||
@@ -2,10 +2,10 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from common.numpy_fast import clip, interp
|
||||
from cereal import log
|
||||
from common.params import Params
|
||||
from cereal import car, log
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from common.filter_simple import FirstOrderFilter
|
||||
from common.realtime import DT_MDL
|
||||
@@ -65,6 +65,10 @@ class LongitudinalPlanner:
|
||||
self.a_desired_trajectory = np.zeros(CONTROL_N)
|
||||
self.j_desired_trajectory = np.zeros(CONTROL_N)
|
||||
self.solverExecutionTime = 0.0
|
||||
self.params = Params()
|
||||
self.param_read_counter = 0
|
||||
self.read_param()
|
||||
self.personality = log.LongitudinalPersonality.standard
|
||||
|
||||
self.cruise_source = 'cruise'
|
||||
self.vision_turn_controller = VisionTurnController(CP)
|
||||
@@ -73,7 +77,12 @@ class LongitudinalPlanner:
|
||||
self.turn_speed_controller = TurnSpeedController()
|
||||
|
||||
self.read_gac(gac_tr=3)
|
||||
self.personality = log.LongitudinalPersonality.standard
|
||||
|
||||
def read_param(self):
|
||||
try:
|
||||
self.personality = int(self.params.get('LongitudinalPersonality'))
|
||||
except (ValueError, TypeError):
|
||||
self.personality = log.LongitudinalPersonality.standard
|
||||
|
||||
def read_gac(self, gac_tr=3):
|
||||
gac_tr = clip(gac_tr, 1, 3)
|
||||
@@ -96,6 +105,9 @@ class LongitudinalPlanner:
|
||||
return x, v, a, j
|
||||
|
||||
def update(self, sm):
|
||||
if self.param_read_counter % 50 == 0:
|
||||
self.read_param()
|
||||
self.param_read_counter += 1
|
||||
self.read_gac(gac_tr=sm['carState'].gapAdjustCruiseTr)
|
||||
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
|
||||
|
||||
|
||||
@@ -130,15 +130,16 @@ class Cluster():
|
||||
"aLeadTau": float(self.aLeadTau)
|
||||
}
|
||||
|
||||
def get_RadarState_from_vision(self, lead_msg, v_ego):
|
||||
def get_RadarState_from_vision(self, lead_msg, v_ego, model_v_ego):
|
||||
lead_v_rel_pred = lead_msg.v[0] - model_v_ego
|
||||
return {
|
||||
"dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
|
||||
"yRel": float(-lead_msg.y[0]),
|
||||
"vRel": float(lead_msg.v[0] - v_ego),
|
||||
"vLead": float(lead_msg.v[0]),
|
||||
"vLeadK": float(lead_msg.v[0]),
|
||||
"aLeadK": float(0),
|
||||
"aLeadTau": _LEAD_ACCEL_TAU,
|
||||
"vRel": float(lead_v_rel_pred),
|
||||
"vLead": float(v_ego + lead_v_rel_pred),
|
||||
"vLeadK": float(v_ego + lead_v_rel_pred),
|
||||
"aLeadK": 0.0,
|
||||
"aLeadTau": 0.3,
|
||||
"fcw": False,
|
||||
"modelProb": float(lead_msg.prob),
|
||||
"radar": False,
|
||||
|
||||
@@ -10,14 +10,13 @@ from selfdrive.car.toyota.values import CAR as TOYOTA
|
||||
from selfdrive.car.nissan.values import CAR as NISSAN
|
||||
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
|
||||
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
|
||||
|
||||
class TestLatControl(unittest.TestCase):
|
||||
|
||||
@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
|
||||
@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (NISSAN.LEAF, LatControlAngle)])
|
||||
def test_saturation(self, car_name, controller):
|
||||
CarInterface, CarController, CarState = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
|
||||
@@ -64,7 +64,7 @@ def match_vision_to_cluster(v_ego, lead, clusters):
|
||||
return None
|
||||
|
||||
|
||||
def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True):
|
||||
def get_lead(v_ego, ready, clusters, lead_msg, model_v_ego, low_speed_override=True):
|
||||
# Determine leads, this is where the essential logic happens
|
||||
if len(clusters) > 0 and ready and lead_msg.prob > .5:
|
||||
cluster = match_vision_to_cluster(v_ego, lead_msg, clusters)
|
||||
@@ -75,7 +75,7 @@ def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True):
|
||||
if cluster is not None:
|
||||
lead_dict = cluster.get_RadarState(lead_msg.prob)
|
||||
elif (cluster is None) and ready and (lead_msg.prob > .5):
|
||||
lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego)
|
||||
lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
|
||||
|
||||
if low_speed_override:
|
||||
low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)]
|
||||
@@ -168,10 +168,14 @@ class RadarD():
|
||||
radarState.radarErrors = list(rr.errors)
|
||||
radarState.carStateMonoTime = sm.logMonoTime['carState']
|
||||
|
||||
if len(sm['modelV2'].temporalPose.trans):
|
||||
model_v_ego = sm['modelV2'].temporalPose.trans[0]
|
||||
else:
|
||||
model_v_ego = self.v_ego
|
||||
leads_v3 = sm['modelV2'].leadsV3
|
||||
if len(leads_v3) > 1:
|
||||
radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
|
||||
radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
|
||||
radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], model_v_ego, low_speed_override=True)
|
||||
radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], model_v_ego, low_speed_override=False)
|
||||
return dat
|
||||
|
||||
|
||||
|
||||
@@ -6,11 +6,12 @@ import random
|
||||
from PIL import Image, ImageDraw, ImageFont
|
||||
|
||||
from cereal import log, car
|
||||
from cereal.messaging import SubMaster
|
||||
from common.basedir import BASEDIR
|
||||
from common.params import Params
|
||||
from selfdrive.controls.lib.events import Alert, EVENTS, ET
|
||||
from selfdrive.controls.lib.alertmanager import set_offroad_alert
|
||||
from selfdrive.test.process_replay.process_replay import FakeSubMaster, CONFIGS
|
||||
from selfdrive.test.process_replay.process_replay import CONFIGS
|
||||
|
||||
AlertSize = log.ControlsState.AlertSize
|
||||
|
||||
@@ -34,7 +35,7 @@ class TestAlerts(unittest.TestCase):
|
||||
cls.CS = car.CarState.new_message()
|
||||
cls.CP = car.CarParams.new_message()
|
||||
cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
|
||||
cls.sm = FakeSubMaster(cfg.pub_sub.keys())
|
||||
cls.sm = SubMaster(cfg.pubs)
|
||||
|
||||
def test_events_defined(self):
|
||||
# Ensure all events in capnp schema are defined in events.py
|
||||
|
||||
@@ -23,6 +23,7 @@ if __name__ == "__main__":
|
||||
alerts: List[Tuple[float, str]] = []
|
||||
start_time = math.inf
|
||||
end_time = -math.inf
|
||||
ignition_off = None
|
||||
for q in tqdm(r.qlog_paths()):
|
||||
if q is None:
|
||||
continue
|
||||
@@ -38,6 +39,11 @@ if __name__ == "__main__":
|
||||
if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:
|
||||
t = (msg.logMonoTime - start_time) / 1e9
|
||||
alerts.append((t, msg.controlsState.alertType))
|
||||
elif msg.which() == 'pandaStates':
|
||||
if ignition_off is None:
|
||||
ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
|
||||
if not ign:
|
||||
ignition_off = msg.logMonoTime
|
||||
elif msg.which() in cams:
|
||||
cnt_cameras[msg.which()] += 1
|
||||
|
||||
@@ -64,6 +70,9 @@ if __name__ == "__main__":
|
||||
print("Alerts")
|
||||
for t, a in alerts:
|
||||
print(f"{t:8.2f} {a}")
|
||||
if ignition_off is not None:
|
||||
ignition_off = round((ignition_off - start_time) / 1e9, 2)
|
||||
print("Ignition off at", ignition_off)
|
||||
|
||||
print("\n")
|
||||
print("Route duration", datetime.timedelta(seconds=duration))
|
||||
|
||||
@@ -2,10 +2,10 @@
|
||||
|
||||
import argparse
|
||||
|
||||
from selfdrive.test.process_replay.compare_logs import save_log
|
||||
from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
|
||||
from tools.lib.logreader import MultiLogIterator
|
||||
from tools.lib.route import Route
|
||||
from tools.lib.helpers import save_log
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description="Run process on route and create new logs",
|
||||
|
||||
@@ -24,6 +24,8 @@ MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
|
||||
MAX_VEL_ANGLE_STD = np.radians(0.25)
|
||||
MAX_YAW_RATE_FILTER = np.radians(2) # per second
|
||||
|
||||
MAX_HEIGHT_STD = np.exp(-3.5)
|
||||
|
||||
# This is at model frequency, blocks needed for efficiency
|
||||
SMOOTH_CYCLES = 10
|
||||
BLOCK_SIZE = 100
|
||||
@@ -32,9 +34,10 @@ INPUTS_WANTED = 50 # We want a little bit more than we need for stability
|
||||
MAX_ALLOWED_SPREAD = np.radians(2)
|
||||
RPY_INIT = np.array([0.0,0.0,0.0])
|
||||
WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
|
||||
HEIGHT_INIT = np.array([1.22])
|
||||
|
||||
# These values are needed to accommodate biggest modelframe
|
||||
PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
|
||||
# These values are needed to accommodate the model frame in the narrow cam of the C3
|
||||
PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
|
||||
YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
|
||||
DEBUG = os.getenv("DEBUG") is not None
|
||||
|
||||
@@ -50,6 +53,8 @@ def sanity_clip(rpy: np.ndarray) -> np.ndarray:
|
||||
np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005),
|
||||
np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)])
|
||||
|
||||
def moving_avg_with_linear_decay(prev_mean: np.ndarray, new_val: np.ndarray, idx: int, block_size: float) -> np.ndarray:
|
||||
return (idx*prev_mean + (block_size - idx) * new_val) / block_size
|
||||
|
||||
class Calibrator:
|
||||
def __init__(self, param_put: bool = False):
|
||||
@@ -62,6 +67,7 @@ class Calibrator:
|
||||
calibration_params = params.get("CalibrationParams")
|
||||
rpy_init = RPY_INIT
|
||||
wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
|
||||
height = HEIGHT_INIT
|
||||
valid_blocks = 0
|
||||
self.cal_status = log.LiveCalibrationData.Status.uncalibrated
|
||||
|
||||
@@ -71,21 +77,28 @@ class Calibrator:
|
||||
rpy_init = np.array(msg.liveCalibration.rpyCalib)
|
||||
valid_blocks = msg.liveCalibration.validBlocks
|
||||
wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
|
||||
height = np.array(msg.liveCalibration.height)
|
||||
except Exception:
|
||||
cloudlog.exception("Error reading cached CalibrationParams")
|
||||
|
||||
self.reset(rpy_init, valid_blocks, wide_from_device_euler)
|
||||
self.reset(rpy_init, valid_blocks, wide_from_device_euler, height)
|
||||
self.update_status()
|
||||
|
||||
def reset(self, rpy_init: np.ndarray = RPY_INIT,
|
||||
valid_blocks: int = 0,
|
||||
wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
|
||||
height_init: np.ndarray = HEIGHT_INIT,
|
||||
smooth_from: Optional[np.ndarray] = None) -> None:
|
||||
if not np.isfinite(rpy_init).all():
|
||||
self.rpy = RPY_INIT.copy()
|
||||
else:
|
||||
self.rpy = rpy_init.copy()
|
||||
|
||||
if not np.isfinite(height_init).all() or len(height_init) != 1:
|
||||
self.height = HEIGHT_INIT.copy()
|
||||
else:
|
||||
self.height = height_init.copy()
|
||||
|
||||
if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3:
|
||||
self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy()
|
||||
else:
|
||||
@@ -98,6 +111,7 @@ class Calibrator:
|
||||
|
||||
self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
|
||||
self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1))
|
||||
self.heights = np.tile(self.height, (INPUTS_WANTED, 1))
|
||||
|
||||
self.idx = 0
|
||||
self.block_idx = 0
|
||||
@@ -120,6 +134,7 @@ class Calibrator:
|
||||
valid_idxs = self.get_valid_idxs()
|
||||
if valid_idxs:
|
||||
self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0)
|
||||
self.height = np.mean(self.heights[valid_idxs], axis=0)
|
||||
rpys = self.rpys[valid_idxs]
|
||||
self.rpy = np.mean(rpys, axis=0)
|
||||
max_rpy_calib = np.array(np.max(rpys, axis=0))
|
||||
@@ -140,6 +155,7 @@ class Calibrator:
|
||||
|
||||
# If spread is too high, assume mounting was changed and reset to last block.
|
||||
# Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
|
||||
# TODO: add height spread check with smooth transition too
|
||||
if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated:
|
||||
self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
|
||||
self.cal_status = log.LiveCalibrationData.Status.recalibrating
|
||||
@@ -160,13 +176,21 @@ class Calibrator:
|
||||
def handle_cam_odom(self, trans: List[float],
|
||||
rot: List[float],
|
||||
wide_from_device_euler: List[float],
|
||||
trans_std: List[float]) -> Optional[np.ndarray]:
|
||||
trans_std: List[float],
|
||||
road_transform_trans: List[float],
|
||||
road_transform_trans_std: List[float]) -> Optional[np.ndarray]:
|
||||
self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
|
||||
|
||||
straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
|
||||
angle_std_threshold = MAX_VEL_ANGLE_STD
|
||||
certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or
|
||||
(self.valid_blocks < INPUTS_NEEDED))
|
||||
height_std_threshold = MAX_HEIGHT_STD
|
||||
rpy_certain = np.arctan2(trans_std[1], trans[0]) < angle_std_threshold
|
||||
if len(road_transform_trans_std) == 3:
|
||||
height_certain = road_transform_trans_std[2] < height_std_threshold
|
||||
else:
|
||||
height_certain = True
|
||||
|
||||
certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < INPUTS_NEEDED)
|
||||
if not (straight_and_fast and certain_if_calib):
|
||||
return None
|
||||
|
||||
@@ -180,10 +204,16 @@ class Calibrator:
|
||||
new_wide_from_device_euler = np.array(wide_from_device_euler)
|
||||
else:
|
||||
new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
|
||||
self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] +
|
||||
(BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
|
||||
self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] +
|
||||
(BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE)
|
||||
|
||||
if (len(road_transform_trans) == 3):
|
||||
new_height = np.array([road_transform_trans[2]])
|
||||
else:
|
||||
new_height = HEIGHT_INIT
|
||||
|
||||
self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE))
|
||||
self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
|
||||
self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE))
|
||||
|
||||
self.idx = (self.idx + 1) % BLOCK_SIZE
|
||||
if self.idx == 0:
|
||||
self.block_idx += 1
|
||||
@@ -206,6 +236,7 @@ class Calibrator:
|
||||
liveCalibration.rpyCalib = smooth_rpy.tolist()
|
||||
liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
|
||||
liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
|
||||
liveCalibration.height = self.height.tolist()
|
||||
|
||||
if self.not_car:
|
||||
liveCalibration.validBlocks = INPUTS_NEEDED
|
||||
@@ -243,7 +274,9 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
|
||||
new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
|
||||
sm['cameraOdometry'].rot,
|
||||
sm['cameraOdometry'].wideFromDeviceEuler,
|
||||
sm['cameraOdometry'].transStd)
|
||||
sm['cameraOdometry'].transStd,
|
||||
sm['cameraOdometry'].roadTransformTrans,
|
||||
sm['cameraOdometry'].roadTransformTransStd)
|
||||
|
||||
if DEBUG and new_rpy is not None:
|
||||
print('got new rpy', new_rpy)
|
||||
|
||||
@@ -192,15 +192,15 @@ class Laikad:
|
||||
|
||||
def is_good_report(self, gnss_msg):
|
||||
if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
|
||||
constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
|
||||
# TODO: Understand and use remaining unknown constellations
|
||||
try:
|
||||
constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
|
||||
good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
|
||||
report_time = self.gps_time_from_qcom_report(gnss_msg)
|
||||
except NotImplementedError:
|
||||
good_constellation = False
|
||||
return False
|
||||
# Garbage timestamps with week > 32767 are sometimes sent by module.
|
||||
# This is an issue with gpsTime and GLONASS time.
|
||||
report_time = self.gps_time_from_qcom_report(gnss_msg)
|
||||
good_week = report_time.week < np.iinfo(np.int16).max
|
||||
return good_constellation and good_week
|
||||
elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
|
||||
@@ -457,12 +457,10 @@ def main(sm=None, pm=None):
|
||||
pm = messaging.PubMaster(['gnssMeasurements'])
|
||||
|
||||
# disable until set as main gps source, to better analyze startup time
|
||||
# TODO ensure low CPU usage before enabling
|
||||
use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ
|
||||
|
||||
replay = "REPLAY" in os.environ
|
||||
if replay:
|
||||
use_internet = True
|
||||
|
||||
laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
|
||||
|
||||
while True:
|
||||
|
||||
@@ -4,7 +4,7 @@ extern "C" {
|
||||
typedef Localizer* Localizer_t;
|
||||
|
||||
Localizer *localizer_init(bool has_ublox) {
|
||||
return new Localizer(has_ublox);
|
||||
return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
|
||||
}
|
||||
|
||||
void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
|
||||
|
||||
@@ -35,6 +35,8 @@ const float GPS_VEL_STD_RESET_THRESHOLD = 0.5;
|
||||
const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0;
|
||||
const int GPS_ORIENTATION_ERROR_RESET_CNT = 3;
|
||||
|
||||
const bool DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
|
||||
|
||||
static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
|
||||
VectorXd res(floatlist.size());
|
||||
for (int i = 0; i < floatlist.size(); i++) {
|
||||
@@ -68,7 +70,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in)
|
||||
return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt();
|
||||
}
|
||||
|
||||
Localizer::Localizer() {
|
||||
Localizer::Localizer(LocalizerGnssSource gnss_source) {
|
||||
this->kf = std::make_unique<LiveKalman>();
|
||||
this->reset_kalman();
|
||||
|
||||
@@ -82,10 +84,9 @@ Localizer::Localizer() {
|
||||
|
||||
VectorXd ecef_pos = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
|
||||
this->converter = std::make_unique<LocalCoord>((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
|
||||
this->configure_gnss_source(gnss_source);
|
||||
}
|
||||
|
||||
Localizer::Localizer(bool has_ublox) : Localizer() { ublox_available = has_ublox; }
|
||||
|
||||
void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
|
||||
VectorXd predicted_state = this->kf->get_x();
|
||||
MatrixXdr predicted_cov = this->kf->get_P();
|
||||
@@ -161,6 +162,9 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
|
||||
init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
|
||||
init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
|
||||
init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
|
||||
if (DEBUG) {
|
||||
init_measurement(fix.initFilterState(), predicted_state, predicted_std, true);
|
||||
}
|
||||
|
||||
double old_mean = 0.0, new_mean = 0.0;
|
||||
int i = 0;
|
||||
@@ -320,12 +324,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
|
||||
|
||||
VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
|
||||
VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
|
||||
float ecef_pos_std;
|
||||
if (ublox_available) {
|
||||
ecef_pos_std = std::sqrt(std::pow(log.getAccuracy(), 2) + std::pow(log.getVerticalAccuracy(), 2));
|
||||
} else {
|
||||
ecef_pos_std = std::sqrt(3 * std::pow(log.getVerticalAccuracy(), 2));
|
||||
}
|
||||
float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2));
|
||||
MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
|
||||
MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal();
|
||||
|
||||
@@ -367,10 +366,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
|
||||
}
|
||||
|
||||
double sensor_time = log.getMeasTime() * 1e-9;
|
||||
if (ublox_available)
|
||||
sensor_time -= GPS_UBLOX_SENSOR_TIME_OFFSET;
|
||||
else
|
||||
sensor_time -= GPS_QUECTEL_SENSOR_TIME_OFFSET;
|
||||
sensor_time -= this->gps_time_offset;
|
||||
|
||||
auto ecef_pos_v = log.getPositionECEF().getValue();
|
||||
VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]);
|
||||
@@ -659,16 +655,33 @@ void Localizer::determine_gps_mode(double current_time) {
|
||||
}
|
||||
}
|
||||
|
||||
int Localizer::locationd_thread() {
|
||||
ublox_available = Params().getBool("UbloxAvailable", true);
|
||||
const char* gps_location_socket;
|
||||
if (ublox_available) {
|
||||
gps_location_socket = "gpsLocationExternal";
|
||||
void Localizer::configure_gnss_source(LocalizerGnssSource source) {
|
||||
this->gnss_source = source;
|
||||
if (source == LocalizerGnssSource::UBLOX) {
|
||||
this->gps_std_factor = 10.0;
|
||||
this->gps_variance_factor = 1.0;
|
||||
this->gps_vertical_variance_factor = 1.0;
|
||||
this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET;
|
||||
} else {
|
||||
gps_location_socket = "gpsLocation";
|
||||
this->gps_std_factor = 2.0;
|
||||
this->gps_variance_factor = 0.0;
|
||||
this->gps_vertical_variance_factor = 3.0;
|
||||
this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET;
|
||||
}
|
||||
}
|
||||
|
||||
int Localizer::locationd_thread() {
|
||||
LocalizerGnssSource source;
|
||||
const char* gps_location_socket;
|
||||
if (Params().getBool("UbloxAvailable", true)) {
|
||||
source = LocalizerGnssSource::UBLOX;
|
||||
gps_location_socket = "gpsLocationExternal";
|
||||
} else {
|
||||
source = LocalizerGnssSource::QCOM;
|
||||
gps_location_socket = "gpsLocation";
|
||||
}
|
||||
|
||||
this->configure_gnss_source(source);
|
||||
const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
|
||||
"carState", "carParams", "accelerometer", "gyroscope"};
|
||||
|
||||
|
||||
@@ -21,10 +21,13 @@
|
||||
|
||||
#define POSENET_STD_HIST_HALF 20
|
||||
|
||||
enum LocalizerGnssSource {
|
||||
UBLOX, QCOM
|
||||
};
|
||||
|
||||
class Localizer {
|
||||
public:
|
||||
Localizer();
|
||||
Localizer(bool has_ublox);
|
||||
Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
|
||||
|
||||
int locationd_thread();
|
||||
|
||||
@@ -81,10 +84,15 @@ private:
|
||||
double first_valid_log_time = NAN;
|
||||
double ttff = NAN;
|
||||
double last_gps_msg = 0;
|
||||
bool ublox_available = true;
|
||||
LocalizerGnssSource gnss_source;
|
||||
bool observation_timings_invalid = false;
|
||||
std::map<std::string, double> observation_values_invalid;
|
||||
bool standstill = true;
|
||||
int32_t orientation_reset_count = 0;
|
||||
float gps_std_factor;
|
||||
float gps_variance_factor;
|
||||
float gps_vertical_variance_factor;
|
||||
double gps_time_offset;
|
||||
|
||||
void configure_gnss_source(LocalizerGnssSource source);
|
||||
};
|
||||
|
||||
@@ -17,8 +17,11 @@ from system.swaglog import cloudlog
|
||||
MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s
|
||||
ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits
|
||||
ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
|
||||
ROLL_LOWERED_MAX = math.radians(8)
|
||||
ROLL_STD_MAX = math.radians(1.5)
|
||||
LATERAL_ACC_SENSOR_THRESHOLD = 4.0
|
||||
OFFSET_MAX = 10.0
|
||||
OFFSET_LOWERED_MAX = 8.0
|
||||
|
||||
|
||||
class ParamsLearner:
|
||||
@@ -103,6 +106,14 @@ class ParamsLearner:
|
||||
self.kf.filter.reset_rewind()
|
||||
|
||||
|
||||
def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float):
|
||||
if current_valid:
|
||||
current_valid = abs(val) < threshold
|
||||
else:
|
||||
current_valid = abs(val) < lowered_threshold
|
||||
return current_valid
|
||||
|
||||
|
||||
def main(sm=None, pm=None):
|
||||
config_realtime_process([0, 1, 2, 3], 5)
|
||||
|
||||
@@ -131,10 +142,8 @@ def main(sm=None, pm=None):
|
||||
# Check if starting values are sane
|
||||
if params is not None:
|
||||
try:
|
||||
angle_offset_sane = abs(params.get('angleOffsetAverageDeg')) < 10.0
|
||||
steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr
|
||||
params_sane = angle_offset_sane and steer_ratio_sane
|
||||
if not params_sane:
|
||||
if not steer_ratio_sane:
|
||||
cloudlog.info(f"Invalid starting values found {params}")
|
||||
params = None
|
||||
except Exception as e:
|
||||
@@ -158,6 +167,9 @@ def main(sm=None, pm=None):
|
||||
angle_offset_average = params['angleOffsetAverageDeg']
|
||||
angle_offset = angle_offset_average
|
||||
roll = 0.0
|
||||
avg_offset_valid = True
|
||||
total_offset_valid = True
|
||||
roll_valid = True
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
@@ -181,6 +193,9 @@ def main(sm=None, pm=None):
|
||||
roll_std = float(P[States.ROAD_ROLL])
|
||||
# Account for the opposite signs of the yaw rates
|
||||
sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
|
||||
avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX)
|
||||
total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
|
||||
roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX)
|
||||
|
||||
msg = messaging.new_message('liveParameters')
|
||||
|
||||
@@ -193,9 +208,9 @@ def main(sm=None, pm=None):
|
||||
liveParameters.angleOffsetAverageDeg = angle_offset_average
|
||||
liveParameters.angleOffsetDeg = angle_offset
|
||||
liveParameters.valid = all((
|
||||
abs(liveParameters.angleOffsetAverageDeg) < 10.0,
|
||||
abs(liveParameters.angleOffsetDeg) < 10.0,
|
||||
abs(liveParameters.roll) < ROLL_MAX,
|
||||
avg_offset_valid,
|
||||
total_offset_valid,
|
||||
roll_valid,
|
||||
roll_std < ROLL_STD_MAX,
|
||||
0.2 <= liveParameters.stiffnessFactor <= 5.0,
|
||||
min_sr <= liveParameters.steerRatio <= max_sr,
|
||||
|
||||
@@ -7,7 +7,7 @@ import numpy as np
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
from common.params import Params
|
||||
from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES
|
||||
from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
|
||||
|
||||
|
||||
class TestCalibrationd(unittest.TestCase):
|
||||
@@ -16,10 +16,12 @@ class TestCalibrationd(unittest.TestCase):
|
||||
msg = messaging.new_message('liveCalibration')
|
||||
msg.liveCalibration.validBlocks = random.randint(1, 10)
|
||||
msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
|
||||
msg.liveCalibration.height = [random.random() for _ in range(1)]
|
||||
Params().put("CalibrationParams", msg.to_bytes())
|
||||
c = Calibrator(param_put=True)
|
||||
|
||||
np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
|
||||
np.testing.assert_allclose(msg.liveCalibration.height, c.height)
|
||||
self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)
|
||||
|
||||
|
||||
@@ -27,51 +29,79 @@ class TestCalibrationd(unittest.TestCase):
|
||||
c = Calibrator(param_put=False)
|
||||
for _ in range(BLOCK_SIZE * INPUTS_WANTED):
|
||||
c.handle_v_ego(MIN_SPEED_FILTER + 1)
|
||||
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e-3, 1e-3, 1e-3],
|
||||
[0.0, 0.0, HEIGHT_INIT.item()],
|
||||
[1e-3, 1e-3, 1e-3])
|
||||
self.assertEqual(c.valid_blocks, INPUTS_WANTED)
|
||||
np.testing.assert_allclose(c.rpy, np.zeros(3))
|
||||
np.testing.assert_allclose(c.height, HEIGHT_INIT)
|
||||
c.reset()
|
||||
|
||||
|
||||
def test_calibration_low_speed_reject(self):
|
||||
c = Calibrator(param_put=False)
|
||||
for _ in range(BLOCK_SIZE * INPUTS_WANTED):
|
||||
c.handle_v_ego(MIN_SPEED_FILTER - 1)
|
||||
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e-3, 1e-3, 1e-3],
|
||||
[0.0, 0.0, HEIGHT_INIT.item()],
|
||||
[1e-3, 1e-3, 1e-3])
|
||||
for _ in range(BLOCK_SIZE * INPUTS_WANTED):
|
||||
c.handle_v_ego(MIN_SPEED_FILTER + 1)
|
||||
c. handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0],
|
||||
c.handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e-3, 1e-3, 1e-3],
|
||||
[0.0, 0.0, HEIGHT_INIT.item()],
|
||||
[1e-3, 1e-3, 1e-3])
|
||||
self.assertEqual(c.valid_blocks, 0)
|
||||
np.testing.assert_allclose(c.rpy, np.zeros(3))
|
||||
np.testing.assert_allclose(c.height, HEIGHT_INIT)
|
||||
|
||||
|
||||
def test_calibration_yaw_rate_reject(self):
|
||||
c = Calibrator(param_put=False)
|
||||
for _ in range(BLOCK_SIZE * INPUTS_WANTED):
|
||||
c.handle_v_ego(MIN_SPEED_FILTER + 1)
|
||||
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
[0.0, 0.0, MAX_YAW_RATE_FILTER ],
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e-3, 1e-3, 1e-3],
|
||||
[0.0, 0.0, HEIGHT_INIT.item()],
|
||||
[1e-3, 1e-3, 1e-3])
|
||||
self.assertEqual(c.valid_blocks, 0)
|
||||
np.testing.assert_allclose(c.rpy, np.zeros(3))
|
||||
np.testing.assert_allclose(c.height, HEIGHT_INIT)
|
||||
|
||||
|
||||
|
||||
def test_calibration_speed_std_reject(self):
|
||||
c = Calibrator(param_put=False)
|
||||
for _ in range(BLOCK_SIZE * INPUTS_WANTED):
|
||||
c.handle_v_ego(MIN_SPEED_FILTER + 1)
|
||||
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e3, 1e3, 1e3],
|
||||
[0.0, 0.0, HEIGHT_INIT.item()],
|
||||
[1e-3, 1e-3, 1e-3])
|
||||
self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
|
||||
np.testing.assert_allclose(c.rpy, np.zeros(3))
|
||||
|
||||
|
||||
def test_calibration_speed_std_height_reject(self):
|
||||
c = Calibrator(param_put=False)
|
||||
for _ in range(BLOCK_SIZE * INPUTS_WANTED):
|
||||
c.handle_v_ego(MIN_SPEED_FILTER + 1)
|
||||
c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e-3, 1e-3, 1e-3],
|
||||
[0.0, 0.0, HEIGHT_INIT.item()],
|
||||
[1e3, 1e3, 1e3])
|
||||
self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
|
||||
np.testing.assert_allclose(c.rpy, np.zeros(3))
|
||||
@@ -81,9 +111,11 @@ class TestCalibrationd(unittest.TestCase):
|
||||
c = Calibrator(param_put=False)
|
||||
for _ in range(BLOCK_SIZE * INPUTS_WANTED):
|
||||
c.handle_v_ego(MIN_SPEED_FILTER + 1)
|
||||
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e-3, 1e-3, 1e-3],
|
||||
[0.0, 0.0, HEIGHT_INIT.item()],
|
||||
[1e-3, 1e-3, 1e-3])
|
||||
self.assertEqual(c.valid_blocks, INPUTS_WANTED)
|
||||
np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
|
||||
@@ -95,6 +127,8 @@ class TestCalibrationd(unittest.TestCase):
|
||||
c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[0.0, 0.0, 0.0],
|
||||
[1e-3, 1e-3, 1e-3],
|
||||
[0.0, 0.0, HEIGHT_INIT.item()],
|
||||
[1e-3, 1e-3, 1e-3])
|
||||
self.assertEqual(c.valid_blocks, 1)
|
||||
self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user