mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-20 14:32:17 +08:00
Merge branch 'master-priv' into master-priv-sunnylink-sidebar-status
This commit is contained in:
Jason Wen
@@ -1,6 +1,6 @@
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
|
||||
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
|
||||
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb
|
||||
RUN pip install ipython jupyter jupyterlab
|
||||
|
||||
RUN cd /tmp && \
|
||||
@@ -8,6 +8,8 @@ RUN cd /tmp && \
|
||||
curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
|
||||
dpkg -i virtualgl.deb
|
||||
|
||||
RUN usermod -aG video batman
|
||||
|
||||
USER batman
|
||||
|
||||
RUN cd $HOME && \
|
||||
|
||||
@@ -17,8 +17,8 @@
|
||||
"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
|
||||
"--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
|
||||
"--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
|
||||
"--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
|
||||
"--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
|
||||
"--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
|
||||
"--shm-size=1G",
|
||||
"--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
|
||||
"--publish=0.0.0.0:8070-8079:8070-8079" // body ZMQ services
|
||||
@@ -29,7 +29,9 @@
|
||||
"installOhMyZsh": false,
|
||||
"upgradePackages": false,
|
||||
"username": "batman"
|
||||
}
|
||||
},
|
||||
"ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
|
||||
"ghcr.io/devcontainers/features/azure-cli:1": {}
|
||||
},
|
||||
"containerUser": "batman",
|
||||
"remoteUser": "batman",
|
||||
@@ -43,5 +45,8 @@
|
||||
"lharri73.dbc"
|
||||
]
|
||||
}
|
||||
}
|
||||
},
|
||||
"mounts": [
|
||||
"type=volume,source=scons_cache,target=/tmp/scons_cache"
|
||||
]
|
||||
}
|
||||
@@ -24,7 +24,7 @@ body:
|
||||
id: os-version
|
||||
attributes:
|
||||
label: OS Version
|
||||
placeholder: Ubuntu 20.04
|
||||
placeholder: Ubuntu 24.04
|
||||
validations:
|
||||
required: true
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@ assignees: ''
|
||||
|
||||
**Checklist**
|
||||
|
||||
- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
|
||||
- [ ] route with openpilot:
|
||||
- [ ] route with stock system:
|
||||
|
||||
@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
|
||||
|
||||
**Checklist**
|
||||
|
||||
- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
|
||||
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
|
||||
- [ ] route with openpilot:
|
||||
- [ ] route with stock system:
|
||||
|
||||
@@ -19,14 +19,14 @@ runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- name: setup namespace cache
|
||||
if: ${{ contains(runner.name, 'nsc') }}
|
||||
if: ${{ contains(runner.name, 'nsc') }}
|
||||
uses: namespacelabs/nscloud-cache-action@v1
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
|
||||
- name: setup github cache
|
||||
if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
|
||||
uses: 'actions/cache@v3'
|
||||
uses: 'actions/cache@v4'
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
key: ${{ inputs.key }}
|
||||
@@ -34,7 +34,7 @@ runs:
|
||||
|
||||
- name: setup github cache
|
||||
if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
|
||||
uses: 'actions/cache/restore@v3'
|
||||
uses: 'actions/cache/restore@v4'
|
||||
with:
|
||||
path: ${{ inputs.path }}
|
||||
key: ${{ inputs.key }}
|
||||
@@ -46,4 +46,4 @@ runs:
|
||||
run: |
|
||||
mkdir -p ${{ inputs.path }}
|
||||
sudo chmod -R 777 ${{ inputs.path }}
|
||||
sudo chown -R $USER ${{ inputs.path }}
|
||||
sudo chown -R $USER ${{ inputs.path }}
|
||||
|
||||
@@ -24,7 +24,7 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
steps:
|
||||
- uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
|
||||
- uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
with:
|
||||
@@ -34,6 +34,26 @@ jobs:
|
||||
already-exists-action: close_this
|
||||
already-exists-comment: "Your PR should be made against the `master` branch"
|
||||
|
||||
comment:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: comment
|
||||
uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
|
||||
if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id **${{ github.run_id }}**)_ -->
|
||||
Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
|
||||
* Convert your PR to a draft unless it's ready to review
|
||||
* Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
|
||||
* Before marking as "ready for review", ensure:
|
||||
* the goal is clearly stated in the description
|
||||
* all the tests are passing
|
||||
* the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
|
||||
* include a route or your device' dongle ID if relevant
|
||||
comment_tag: run_id
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
check-pr-template:
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
@@ -41,7 +61,7 @@ jobs:
|
||||
issues: write
|
||||
pull-requests: write
|
||||
actions: read
|
||||
if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
|
||||
if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
|
||||
steps:
|
||||
- uses: actions/github-script@v7
|
||||
with:
|
||||
@@ -91,7 +111,7 @@ jobs:
|
||||
|
||||
// Utility function to check if a list of checkboxes is a subset of another list of checkboxes
|
||||
isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
|
||||
// Check if each template checkbox text is a substring of at least one PR checkbox text
|
||||
// Check if each template checkbox text is a substring of at least one PR checkbox text
|
||||
// (user should be allowed to add additional text)
|
||||
return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
|
||||
}
|
||||
|
||||
@@ -12,7 +12,7 @@ env:
|
||||
jobs:
|
||||
badges:
|
||||
name: create badges
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
permissions:
|
||||
contents: write
|
||||
|
||||
@@ -14,7 +14,7 @@ runs:
|
||||
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
|
||||
scons -j$(nproc) --cache-populate"
|
||||
- name: Save scons cache
|
||||
uses: actions/cache/save@v3
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: .ci_cache/scons_cache
|
||||
|
||||
@@ -20,7 +20,7 @@ env:
|
||||
jobs:
|
||||
docs:
|
||||
name: build docs
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 45
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
@@ -11,7 +11,7 @@ env:
|
||||
jobs:
|
||||
build_prebuilt:
|
||||
name: build prebuilt
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
env:
|
||||
PUSH_IMAGE: true
|
||||
@@ -22,7 +22,7 @@ jobs:
|
||||
steps:
|
||||
- name: Wait for green check mark
|
||||
if: ${{ github.event_name != 'workflow_dispatch' }}
|
||||
uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
|
||||
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
|
||||
with:
|
||||
ref: master
|
||||
wait-interval: 30
|
||||
|
||||
@@ -12,7 +12,7 @@ jobs:
|
||||
ImageOS: ubuntu20
|
||||
container:
|
||||
image: ghcr.io/commaai/openpilot-base:latest
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
permissions:
|
||||
checks: read
|
||||
@@ -24,7 +24,7 @@ jobs:
|
||||
sudo apt-get install -y libyaml-dev
|
||||
- name: Wait for green check mark
|
||||
if: ${{ github.event_name != 'workflow_dispatch' }}
|
||||
uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
|
||||
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
|
||||
with:
|
||||
ref: master
|
||||
wait-interval: 30
|
||||
|
||||
@@ -8,7 +8,7 @@ on:
|
||||
jobs:
|
||||
bump_submodules:
|
||||
name: bump_submodules
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: ghcr.io/commaai/openpilot-base:latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
@@ -22,8 +22,9 @@ jobs:
|
||||
git -c submodule."tinygrad".update=none submodule update --remote
|
||||
git add .
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
|
||||
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
|
||||
with:
|
||||
author: Vehicle Researcher <user@comma.ai>
|
||||
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
|
||||
commit-message: bump submodules
|
||||
title: '[bot] Bump submodules'
|
||||
@@ -34,7 +35,7 @@ jobs:
|
||||
labels: bot
|
||||
package_updates:
|
||||
name: package_updates
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: ghcr.io/commaai/openpilot-base:latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
@@ -49,8 +50,9 @@ jobs:
|
||||
git config --global --add safe.directory '*'
|
||||
pre-commit autoupdate
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
|
||||
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
|
||||
with:
|
||||
author: Vehicle Researcher <user@comma.ai>
|
||||
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
|
||||
commit-message: Update Python packages and pre-commit hooks
|
||||
title: '[bot] Update Python packages and pre-commit hooks'
|
||||
|
||||
@@ -26,7 +26,7 @@ env:
|
||||
jobs:
|
||||
build_release:
|
||||
name: build release
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
env:
|
||||
STRIPPED_DIR: /tmp/releasepilot
|
||||
steps:
|
||||
@@ -69,9 +69,9 @@ jobs:
|
||||
matrix:
|
||||
arch: ${{ fromJson(
|
||||
((github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
|
||||
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
|
||||
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -87,7 +87,7 @@ jobs:
|
||||
strategy:
|
||||
matrix:
|
||||
arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
|
||||
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
|
||||
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
|
||||
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -104,7 +104,7 @@ jobs:
|
||||
|
||||
docker_push_multiarch:
|
||||
name: docker push multiarch tag
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
|
||||
needs: [docker_push]
|
||||
steps:
|
||||
@@ -122,8 +122,8 @@ jobs:
|
||||
static_analysis:
|
||||
name: static analysis
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -136,7 +136,7 @@ jobs:
|
||||
|
||||
valgrind:
|
||||
name: valgrind
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -155,8 +155,8 @@ jobs:
|
||||
unit_tests:
|
||||
name: unit tests
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -177,7 +177,7 @@ jobs:
|
||||
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
|
||||
./selfdrive/ui/tests/test_translations.py"
|
||||
- name: "Upload coverage to Codecov"
|
||||
uses: codecov/codecov-action@v3
|
||||
uses: codecov/codecov-action@v4
|
||||
with:
|
||||
name: ${{ github.job }}
|
||||
env:
|
||||
@@ -186,8 +186,8 @@ jobs:
|
||||
process_replay:
|
||||
name: process replay
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -197,7 +197,7 @@ jobs:
|
||||
docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
|
||||
- name: Cache test routes
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v3
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: .ci_cache/comma_download_cache
|
||||
key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
|
||||
@@ -215,7 +215,7 @@ jobs:
|
||||
id: print-diff
|
||||
if: always()
|
||||
run: cat selfdrive/test/process_replay/diff.txt
|
||||
- uses: actions/upload-artifact@v3
|
||||
- uses: actions/upload-artifact@v4
|
||||
if: always()
|
||||
continue-on-error: true
|
||||
with:
|
||||
@@ -226,7 +226,7 @@ jobs:
|
||||
run: |
|
||||
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
|
||||
- name: "Upload coverage to Codecov"
|
||||
uses: codecov/codecov-action@v3
|
||||
uses: codecov/codecov-action@v4
|
||||
with:
|
||||
name: ${{ github.job }}
|
||||
env:
|
||||
@@ -234,15 +234,15 @@ jobs:
|
||||
|
||||
regen:
|
||||
name: regen
|
||||
runs-on: 'ubuntu-20.04'
|
||||
steps:
|
||||
runs-on: 'ubuntu-latest'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Cache test routes
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v3
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: .ci_cache/comma_download_cache
|
||||
key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
|
||||
@@ -259,7 +259,7 @@ jobs:
|
||||
|
||||
test_modeld:
|
||||
name: model tests
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -284,7 +284,7 @@ jobs:
|
||||
${{ env.RUN }} "unset PYTHONWARNINGS && \
|
||||
$PYTEST selfdrive/modeld"
|
||||
- name: "Upload coverage to Codecov"
|
||||
uses: codecov/codecov-action@v3
|
||||
uses: codecov/codecov-action@v4
|
||||
with:
|
||||
name: ${{ github.job }}
|
||||
env:
|
||||
@@ -293,8 +293,8 @@ jobs:
|
||||
test_cars:
|
||||
name: cars
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -321,7 +321,7 @@ jobs:
|
||||
NUM_JOBS: 5
|
||||
JOB_ID: ${{ matrix.job }}
|
||||
- name: "Upload coverage to Codecov"
|
||||
uses: codecov/codecov-action@v3
|
||||
uses: codecov/codecov-action@v4
|
||||
with:
|
||||
name: ${{ github.job }}-${{ matrix.job }}
|
||||
env:
|
||||
@@ -329,7 +329,7 @@ jobs:
|
||||
|
||||
car_docs_diff:
|
||||
name: PR comments
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'pull_request'
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -340,7 +340,7 @@ jobs:
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Get base car info
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
|
||||
${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
|
||||
sudo chown -R $USER:$USER ${{ github.workspace }}
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -352,19 +352,19 @@ jobs:
|
||||
run: |
|
||||
cd current
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
|
||||
output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
|
||||
output="${output//$'\n'/'%0A'}"
|
||||
echo "::set-output name=diff::$output"
|
||||
- name: Find comment
|
||||
if: ${{ env.AZURE_TOKEN != '' }}
|
||||
uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
|
||||
uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
|
||||
id: fc
|
||||
with:
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
body-includes: This PR makes changes to
|
||||
- name: Update comment
|
||||
if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
|
||||
uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
|
||||
uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
|
||||
with:
|
||||
comment-id: ${{ steps.fc.outputs.comment-id }}
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
@@ -372,7 +372,7 @@ jobs:
|
||||
edit-mode: replace
|
||||
- name: Delete comment
|
||||
if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
|
||||
uses: actions/github-script@v6
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
script: |
|
||||
github.rest.issues.deleteComment({
|
||||
@@ -383,7 +383,7 @@ jobs:
|
||||
|
||||
create_ui_report:
|
||||
name: Create UI Report
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -395,10 +395,10 @@ jobs:
|
||||
run: >
|
||||
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
|
||||
source selfdrive/test/setup_xvfb.sh &&
|
||||
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
|
||||
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
|
||||
python selfdrive/ui/tests/test_ui/run.py"
|
||||
- name: Upload Test Report
|
||||
uses: actions/upload-artifact@v2
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: report
|
||||
path: selfdrive/ui/tests/test_ui/report
|
||||
path: selfdrive/ui/tests/test_ui/report
|
||||
|
||||
@@ -4,7 +4,7 @@ runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
with:
|
||||
path: .ci_cache/pre-commit
|
||||
key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
|
||||
restore-keys: |
|
||||
|
||||
@@ -12,15 +12,16 @@ jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v8
|
||||
- uses: actions/stale@v9
|
||||
with:
|
||||
exempt-milestones: true
|
||||
|
||||
# pull request config
|
||||
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
|
||||
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
|
||||
stale-pr-label: stale
|
||||
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
|
||||
exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
|
||||
exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
|
||||
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
|
||||
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
|
||||
|
||||
|
||||
@@ -22,7 +22,7 @@ env:
|
||||
jobs:
|
||||
plotjuggler:
|
||||
name: plotjuggler
|
||||
runs-on: ubuntu-20.04
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 45
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -31,15 +31,15 @@ jobs:
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
timeout-minutes: 5
|
||||
run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
|
||||
run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
|
||||
- name: Test PlotJuggler
|
||||
timeout-minutes: 2
|
||||
run: |
|
||||
${{ env.RUN }} "pytest tools/plotjuggler/"
|
||||
|
||||
simulator:
|
||||
name: simulator
|
||||
runs-on: ubuntu-20.04
|
||||
simulator_build:
|
||||
name: simulator docker build
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
timeout-minutes: 45
|
||||
steps:
|
||||
@@ -56,6 +56,28 @@ jobs:
|
||||
run: |
|
||||
selfdrive/test/docker_build.sh sim
|
||||
|
||||
simulator_driving:
|
||||
name: simulator driving
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 20
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- run: git lfs pull
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build base docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Build openpilot
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Run bridge test
|
||||
run: |
|
||||
${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
|
||||
source selfdrive/test/setup_xvfb.sh && \
|
||||
source selfdrive/test/setup_vsound.sh && \
|
||||
CI=1 tools/sim/tests/test_metadrive_bridge.py"
|
||||
|
||||
devcontainer:
|
||||
name: devcontainer
|
||||
runs-on: ubuntu-latest
|
||||
@@ -85,8 +107,8 @@ jobs:
|
||||
|
||||
notebooks:
|
||||
name: notebooks
|
||||
runs-on: ubuntu-20.04
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
runs-on: ubuntu-latest
|
||||
if: false && github.repository == 'commaai/openpilot'
|
||||
timeout-minutes: 45
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
@@ -99,4 +121,4 @@ jobs:
|
||||
- name: Test notebooks
|
||||
timeout-minutes: 3
|
||||
run: |
|
||||
${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
|
||||
${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
|
||||
|
||||
@@ -5,7 +5,7 @@ repos:
|
||||
- id: check-hooks-apply
|
||||
- id: check-useless-excludes
|
||||
- repo: https://github.com/pre-commit/pre-commit-hooks
|
||||
rev: v4.5.0
|
||||
rev: v4.6.0
|
||||
hooks:
|
||||
- id: check-ast
|
||||
exclude: '^(third_party)/'
|
||||
@@ -33,7 +33,7 @@ repos:
|
||||
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
|
||||
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
|
||||
- repo: https://github.com/astral-sh/ruff-pre-commit
|
||||
rev: v0.2.2
|
||||
rev: v0.4.3
|
||||
hooks:
|
||||
- id: ruff
|
||||
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
|
||||
@@ -75,7 +75,7 @@ repos:
|
||||
# relevant rules are whitelisted, see all options with: cpplint --filter=
|
||||
- --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
|
||||
- repo: https://github.com/MarcoGorelli/cython-lint
|
||||
rev: v0.16.0
|
||||
rev: v0.16.2
|
||||
hooks:
|
||||
- id: cython-lint
|
||||
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
|
||||
@@ -98,6 +98,6 @@ repos:
|
||||
args:
|
||||
- --lock
|
||||
- repo: https://github.com/python-jsonschema/check-jsonschema
|
||||
rev: 0.28.0
|
||||
rev: 0.28.2
|
||||
hooks:
|
||||
- id: check-github-workflows
|
||||
|
||||
Vendored
+13
-2
@@ -12,5 +12,16 @@
|
||||
"**/.git": true,
|
||||
"**/.venv": true,
|
||||
"**/__pycache__": true
|
||||
}
|
||||
}
|
||||
},
|
||||
"python.analysis.exclude": [
|
||||
"**/.git",
|
||||
"**/.venv",
|
||||
"**/__pycache__",
|
||||
// exclude directories that should be using the symlinked version
|
||||
"common/**",
|
||||
"selfdrive/**",
|
||||
"system/**",
|
||||
"third_party/**",
|
||||
"tools/**",
|
||||
]
|
||||
}
|
||||
|
||||
+23
-3
@@ -1,10 +1,13 @@
|
||||
sunnypilot - 0.9.7.0 (2024-xx-xx)
|
||||
sunnypilot - 0.9.7.0 (2024-05-xx)
|
||||
========================
|
||||
* New driving model
|
||||
* Support for many hybrid Ford models
|
||||
* Adjust driving personality with the follow distance button
|
||||
* Support for hybrid variants of supported Ford models
|
||||
* Added toggle to enable driver monitoring even when openpilot is not engaged
|
||||
* Fingerprinting without the OBD-II port on all cars
|
||||
************************
|
||||
* UPDATED: Synced with commaai's openpilot
|
||||
* master commit 56e343b (February 27, 2024)
|
||||
* master commit 2e6b2ef (May 9, 2024)
|
||||
* NEW❗: sunnylink (Alpha early access)
|
||||
* NEW❗: Config Backup
|
||||
* Remotely back up and restore sunnypilot settings easily
|
||||
@@ -16,11 +19,28 @@ sunnypilot - 0.9.7.0 (2024-xx-xx)
|
||||
* GitHub account pairing from device settings scanning QR code
|
||||
* Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
|
||||
* Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
|
||||
* NEW❗: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437!
|
||||
* iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device
|
||||
* comma Prime support
|
||||
* Personal Mapbox/Amap/Google Maps token support
|
||||
* Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
|
||||
* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
|
||||
* openpilot Longitudianl Control available cars
|
||||
* Custom Stock Longitudinal Control available cars
|
||||
* UPDATED: Driving Model Selector v4
|
||||
* NEW❗: Driving Model additions
|
||||
* North Dakota (April 29, 2024) - NDv2
|
||||
* WD40 (April 09, 2024) - WD40
|
||||
* Duck Amigo (March 18, 2024) - DA
|
||||
* Recertified Herbalist (March 01, 2024) - CHLR
|
||||
* Legacy Driving Models with Navigate on openpilot (NoO) support
|
||||
* Includes Duck Amigo and all preceding models
|
||||
* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services
|
||||
* Reset self-service access tokens for Mapbox, Amap, and Google Maps
|
||||
* UPDATED: Upstream native support for Gap Adjust Cruise
|
||||
* UPDATED: Neural Network Lateral Control (NNLC)
|
||||
* Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
|
||||
* This will be updated when the new mapping of platforms are restructured (thanks @twilsconso 😉)
|
||||
* UI Updates
|
||||
* Display Metrics Below Chevron
|
||||
* NEW❗: Metrics is now being displayed below the chevron instead of above
|
||||
|
||||
Vendored
+3
-2
@@ -40,6 +40,7 @@ if [ -f /TICI ]; then
|
||||
rm -rf /tmp/tmp*
|
||||
rm -rf ~/.commacache
|
||||
rm -rf /dev/shm/*
|
||||
rm -rf /dev/tmp/tmp*
|
||||
|
||||
if ! systemctl is-active --quiet systemd-resolved; then
|
||||
echo "restarting resolved"
|
||||
@@ -194,7 +195,7 @@ node {
|
||||
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
|
||||
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
|
||||
["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
|
||||
["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
|
||||
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
|
||||
])
|
||||
},
|
||||
@@ -249,4 +250,4 @@ node {
|
||||
currentBuild.result = 'FAILED'
|
||||
throw e
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -98,7 +98,7 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
|
||||
* sunnypilot not installed or you installed a version before 0.8.17?
|
||||
1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
|
||||
2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
|
||||
3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```bit.ly/sp-release-c3``` [^4] (note: `https://` is not requirement on the comma three)
|
||||
3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai``` [^4] (note: `https://` is not requirement on the comma three)
|
||||
4. Complete the rest of the installation following the onscreen instructions.
|
||||
|
||||
* sunnypilot already installed and you installed a version after 0.8.17?
|
||||
@@ -107,6 +107,12 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
|
||||
3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
|
||||
4. Scroll to select the desired branch per [Recommended Branches](#-recommended-branches). Example: `release-c3`
|
||||
|
||||
| Branch | Installation URL |
|
||||
|:------------:|:--------------------------------:|
|
||||
| `release-c3` | https://release-c3.sunnypilot.ai |
|
||||
| `staging-c3` | https://staging-c3.sunnypilot.ai |
|
||||
| `dev-c3` | https://dev-c3.sunnypilot.ai |
|
||||
|
||||
Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
|
||||
|
||||
comma two
|
||||
|
||||
+8
-2
@@ -1,7 +1,10 @@
|
||||
Version 0.9.7 (2024-XX-XX)
|
||||
Version 0.9.7 (2024-05-XX)
|
||||
========================
|
||||
* New driving model
|
||||
* Support for many hybrid Ford models
|
||||
* Adjust driving personality with the follow distance button
|
||||
* Support for hybrid variants of supported Ford models
|
||||
* Added toggle to enable driver monitoring even when openpilot is not engaged
|
||||
* Fingerprinting without the OBD-II port on all cars
|
||||
|
||||
Version 0.9.6 (2024-02-27)
|
||||
========================
|
||||
@@ -11,6 +14,9 @@ Version 0.9.6 (2024-02-27)
|
||||
* Directly outputs curvature for lateral control
|
||||
* New driver monitoring model
|
||||
* Trained on larger dataset
|
||||
* Model path UI
|
||||
* Shows where driving model wants to be
|
||||
* Shows what model is seeing more clearly, but more jittery
|
||||
* AGNOS 9
|
||||
* comma body streaming and controls over WebRTC
|
||||
* Improved fuzzy fingerprinting for many makes and models
|
||||
|
||||
+8
-10
@@ -193,6 +193,7 @@ env = Environment(
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-error=unused-but-set-variable",
|
||||
"-Wno-vla-cxx-extension",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
@@ -377,25 +378,22 @@ SConscript([
|
||||
])
|
||||
if arch != "Darwin":
|
||||
SConscript([
|
||||
'system/camerad/SConscript',
|
||||
'system/sensord/SConscript',
|
||||
'system/logcatd/SConscript',
|
||||
])
|
||||
|
||||
if arch == "larch64":
|
||||
SConscript(['system/camerad/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
SConscript(['third_party/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/navd/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
SConscript(['selfdrive/SConscript'])
|
||||
|
||||
if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
if Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
SConscript(['tools/replay/SConscript'])
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
if arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
|
||||
+1
-1
Submodule body updated: 61ace31efa...0e74db67ae
+1
-1
Submodule cereal updated: d4c43a0865...5ce28549ba
@@ -0,0 +1,42 @@
|
||||
import subprocess
|
||||
from openpilot.common.utils import cache
|
||||
from openpilot.common.run import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_short_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_branch(cwd: str = None) -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_origin(cwd: str = None) -> str:
|
||||
try:
|
||||
local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
|
||||
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
|
||||
return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
|
||||
except subprocess.CalledProcessError: # Not on a branch, fallback
|
||||
return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
|
||||
|
||||
|
||||
@cache
|
||||
def get_normalized_origin(cwd: str = None) -> str:
|
||||
return get_origin(cwd) \
|
||||
.replace("git@", "", 1) \
|
||||
.replace(".git", "", 1) \
|
||||
.replace("https://", "", 1) \
|
||||
.replace(":", "/", 1)
|
||||
+5
-3
@@ -89,6 +89,7 @@ private:
|
||||
|
||||
std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
|
||||
{"AlwaysOnDM", PERSISTENT},
|
||||
{"ApiCache_Device", PERSISTENT},
|
||||
{"ApiCache_NavDestinations", PERSISTENT},
|
||||
{"AssistNowToken", PERSISTENT},
|
||||
@@ -172,7 +173,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
@@ -190,6 +190,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"RecordFront", PERSISTENT | BACKUP},
|
||||
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
||||
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"RouteCount", PERSISTENT},
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"SshEnabled", PERSISTENT | BACKUP},
|
||||
{"TermsVersion", PERSISTENT},
|
||||
@@ -208,7 +209,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterLastFetchTime", PERSISTENT},
|
||||
{"Version", PERSISTENT},
|
||||
{"VisionRadarToggle", PERSISTENT},
|
||||
|
||||
{"AccMadsCombo", PERSISTENT | BACKUP},
|
||||
{"AmapKey1", PERSISTENT | BACKUP},
|
||||
@@ -407,7 +407,9 @@ int Params::put(const char* key, const char* value, size_t value_size) {
|
||||
} while (false);
|
||||
|
||||
close(tmp_fd);
|
||||
::unlink(tmp_path.c_str());
|
||||
if (result != 0) {
|
||||
::unlink(tmp_path.c_str());
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
+3
-1
@@ -4,6 +4,7 @@ import uuid
|
||||
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.hardware import PC
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
|
||||
@@ -45,7 +46,8 @@ class OpenpilotPrefix:
|
||||
shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
|
||||
os.remove(symlink_path)
|
||||
shutil.rmtree(self.msgq_path, ignore_errors=True)
|
||||
shutil.rmtree(Paths.log_root(), ignore_errors=True)
|
||||
if PC:
|
||||
shutil.rmtree(Paths.log_root(), ignore_errors=True)
|
||||
if not os.environ.get("COMMA_CACHE", False):
|
||||
shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
|
||||
shutil.rmtree(Paths.comma_home(), ignore_errors=True)
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
import subprocess
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
+11
-2
@@ -1,6 +1,15 @@
|
||||
import datetime
|
||||
from pathlib import Path
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
|
||||
_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
|
||||
|
||||
def min_date():
|
||||
# on systemd systems, the default time is the systemd build time
|
||||
systemd_path = Path("/lib/systemd/systemd")
|
||||
if systemd_path.exists():
|
||||
d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
|
||||
return d + datetime.timedelta(days=1)
|
||||
return _MIN_DATE
|
||||
|
||||
def system_time_valid():
|
||||
return datetime.datetime.now() > MIN_DATE
|
||||
return datetime.datetime.now() > min_date()
|
||||
|
||||
@@ -1,55 +1,74 @@
|
||||
import itertools
|
||||
import numpy as np
|
||||
from dataclasses import dataclass
|
||||
|
||||
import openpilot.common.transformations.orientation as orient
|
||||
|
||||
## -- hardcoded hardware params --
|
||||
eon_f_focal_length = 910.0
|
||||
eon_d_focal_length = 650.0
|
||||
tici_f_focal_length = 2648.0
|
||||
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
|
||||
@dataclass(frozen=True)
|
||||
class CameraConfig:
|
||||
width: int
|
||||
height: int
|
||||
focal_length: float
|
||||
|
||||
eon_f_frame_size = (1164, 874)
|
||||
eon_d_frame_size = (816, 612)
|
||||
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
|
||||
@property
|
||||
def size(self):
|
||||
return (self.width, self.height)
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
eon_fcam_intrinsics = np.array([
|
||||
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
|
||||
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
eon_intrinsics = eon_fcam_intrinsics # xx
|
||||
@property
|
||||
def intrinsics(self):
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
return np.array([
|
||||
[self.focal_length, 0.0, float(self.width)/2],
|
||||
[0.0, self.focal_length, float(self.height)/2],
|
||||
[0.0, 0.0, 1.0]
|
||||
])
|
||||
|
||||
eon_dcam_intrinsics = np.array([
|
||||
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
|
||||
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
@property
|
||||
def intrinsics_inv(self):
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
return np.linalg.inv(self.intrinsics)
|
||||
|
||||
tici_fcam_intrinsics = np.array([
|
||||
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
|
||||
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
@dataclass(frozen=True)
|
||||
class _NoneCameraConfig(CameraConfig):
|
||||
width: int = 0
|
||||
height: int = 0
|
||||
focal_length: float = 0
|
||||
|
||||
tici_dcam_intrinsics = np.array([
|
||||
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
|
||||
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
@dataclass(frozen=True)
|
||||
class DeviceCameraConfig:
|
||||
fcam: CameraConfig
|
||||
dcam: CameraConfig
|
||||
ecam: CameraConfig
|
||||
|
||||
tici_ecam_intrinsics = tici_dcam_intrinsics
|
||||
def all_cams(self):
|
||||
for cam in ['fcam', 'dcam', 'ecam']:
|
||||
if not isinstance(getattr(self, cam), _NoneCameraConfig):
|
||||
yield cam, getattr(self, cam)
|
||||
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
|
||||
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
|
||||
_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
|
||||
_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
|
||||
_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
|
||||
_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
|
||||
_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
|
||||
|
||||
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
|
||||
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
|
||||
DEVICE_CAMERAS = {
|
||||
# A "device camera" is defined by a device type and sensor
|
||||
|
||||
# sensor type was never set on eon/neo/two
|
||||
("neo", "unknown"): _neo_config,
|
||||
# unknown here is AR0231, field was added with OX03C10 support
|
||||
("tici", "unknown"): _ar_ox_config,
|
||||
|
||||
FULL_FRAME_SIZE = tici_f_frame_size
|
||||
FOCAL = tici_f_focal_length
|
||||
fcam_intrinsics = tici_fcam_intrinsics
|
||||
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
# before deviceState.deviceType was set, assume tici AR config
|
||||
("unknown", "ar0231"): _ar_ox_config,
|
||||
("unknown", "ox03c10"): _ar_ox_config,
|
||||
|
||||
# simulator (emulates a tici)
|
||||
("pc", "unknown"): _ar_ox_config,
|
||||
}
|
||||
prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
|
||||
DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
|
||||
|
||||
# device/mesh : x->forward, y-> right, z->down
|
||||
# view : x->right, y->down, z->forward
|
||||
@@ -93,7 +112,7 @@ def roll_from_ke(m):
|
||||
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
|
||||
|
||||
|
||||
def normalize(img_pts, intrinsics=fcam_intrinsics):
|
||||
def normalize(img_pts, intrinsics):
|
||||
# normalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
intrinsics_inv = np.linalg.inv(intrinsics)
|
||||
@@ -106,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
|
||||
return img_pts_normalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
|
||||
def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
|
||||
# denormalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
@@ -123,7 +142,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
|
||||
return img_pts_denormalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
|
||||
def get_calib_from_vp(vp, intrinsics):
|
||||
vp_norm = normalize(vp, intrinsics)
|
||||
yaw_calib = np.arctan(vp_norm[0])
|
||||
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
|
||||
|
||||
@@ -1,19 +1,11 @@
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.transformations.orientation import rot_from_euler
|
||||
from openpilot.common.transformations.camera import (
|
||||
FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
|
||||
eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
|
||||
from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
|
||||
|
||||
# segnet
|
||||
SEGNET_SIZE = (512, 384)
|
||||
|
||||
def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
|
||||
return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
|
||||
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
|
||||
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
|
||||
|
||||
|
||||
# MED model
|
||||
MEDMODEL_INPUT_SIZE = (512, 256)
|
||||
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
@@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
|
||||
calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
|
||||
|
||||
# This function is verified to give similar results to xx.uncommon.utils.transform_img
|
||||
def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
|
||||
if tici and wide_camera:
|
||||
cam_intrinsics = tici_ecam_intrinsics
|
||||
elif tici:
|
||||
cam_intrinsics = tici_fcam_intrinsics
|
||||
else:
|
||||
cam_intrinsics = eon_fcam_intrinsics
|
||||
|
||||
def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
|
||||
calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
|
||||
device_from_calib = rot_from_euler(device_from_calib_euler)
|
||||
camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
|
||||
camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
|
||||
warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
|
||||
return warp_matrix
|
||||
|
||||
+3
-24
@@ -246,18 +246,13 @@ std::string random_string(std::string::size_type length) {
|
||||
return s;
|
||||
}
|
||||
|
||||
std::string dir_name(std::string const &path) {
|
||||
size_t pos = path.find_last_of("/");
|
||||
if (pos == std::string::npos) return "";
|
||||
return path.substr(0, pos);
|
||||
}
|
||||
|
||||
bool starts_with(const std::string &s1, const std::string &s2) {
|
||||
return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
|
||||
}
|
||||
|
||||
bool ends_with(const std::string &s1, const std::string &s2) {
|
||||
return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
|
||||
bool ends_with(const std::string& s, const std::string& suffix) {
|
||||
return s.size() >= suffix.size() &&
|
||||
strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
|
||||
}
|
||||
|
||||
std::string check_output(const std::string& command) {
|
||||
@@ -276,20 +271,4 @@ std::string check_output(const std::string& command) {
|
||||
return result;
|
||||
}
|
||||
|
||||
struct tm get_time() {
|
||||
time_t rawtime;
|
||||
time(&rawtime);
|
||||
|
||||
struct tm sys_time;
|
||||
gmtime_r(&rawtime, &sys_time);
|
||||
|
||||
return sys_time;
|
||||
}
|
||||
|
||||
bool time_valid(struct tm sys_time) {
|
||||
int year = 1900 + sys_time.tm_year;
|
||||
int month = 1 + sys_time.tm_mon;
|
||||
return (year > 2023) || (year == 2023 && month >= 6);
|
||||
}
|
||||
|
||||
} // namespace util
|
||||
|
||||
+8
-7
@@ -8,7 +8,6 @@
|
||||
#include <atomic>
|
||||
#include <chrono>
|
||||
#include <csignal>
|
||||
#include <ctime>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
@@ -45,10 +44,6 @@ int set_realtime_priority(int level);
|
||||
int set_core_affinity(std::vector<int> cores);
|
||||
int set_file_descriptor_limit(uint64_t limit);
|
||||
|
||||
// ***** Time helpers *****
|
||||
struct tm get_time();
|
||||
bool time_valid(struct tm sys_time);
|
||||
|
||||
// ***** math helpers *****
|
||||
|
||||
// map x from [a1, a2] to [b1, b2]
|
||||
@@ -75,9 +70,8 @@ int getenv(const char* key, int default_val);
|
||||
float getenv(const char* key, float default_val);
|
||||
|
||||
std::string hexdump(const uint8_t* in, const size_t size);
|
||||
std::string dir_name(std::string const& path);
|
||||
bool starts_with(const std::string &s1, const std::string &s2);
|
||||
bool ends_with(const std::string &s1, const std::string &s2);
|
||||
bool ends_with(const std::string &s, const std::string &suffix);
|
||||
|
||||
// ***** random helpers *****
|
||||
int random_int(int min, int max);
|
||||
@@ -179,3 +173,10 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
|
||||
T prev = max;
|
||||
while (prev < value && !max.compare_exchange_weak(prev, value)) {}
|
||||
}
|
||||
|
||||
typedef struct Rect {
|
||||
int x;
|
||||
int y;
|
||||
int w;
|
||||
int h;
|
||||
} Rect;
|
||||
|
||||
@@ -0,0 +1,23 @@
|
||||
from collections.abc import Callable
|
||||
from functools import lru_cache
|
||||
from typing import TypeVar
|
||||
|
||||
|
||||
_RT = TypeVar("_RT")
|
||||
|
||||
|
||||
class Freezable:
|
||||
_frozen: bool = False
|
||||
|
||||
def freeze(self):
|
||||
if not self._frozen:
|
||||
self._frozen = True
|
||||
|
||||
def __setattr__(self, *args, **kwargs):
|
||||
if self._frozen:
|
||||
raise Exception("cannot modify frozen object")
|
||||
super().__setattr__(*args, **kwargs)
|
||||
|
||||
|
||||
def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
|
||||
return lru_cache(maxsize=None)(user_function)
|
||||
+4
-1
@@ -10,7 +10,8 @@ Get paid to improve openpilot!
|
||||
* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
|
||||
* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
|
||||
|
||||
New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
|
||||
We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in.
|
||||
This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
|
||||
|
||||
## Issue bounties
|
||||
|
||||
@@ -20,6 +21,8 @@ We've tagged bounty-eligible issues across openpilot and the rest of our repos;
|
||||
* **$500** - a few days of work for an experienced openpilot developer
|
||||
* **$1k+** - a week or two of work (could be less for the right person)
|
||||
|
||||
New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
|
||||
|
||||
## Car bounties
|
||||
|
||||
The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).
|
||||
|
||||
+125
-126
@@ -4,29 +4,24 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 288 Supported Cars
|
||||
# 286 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
|
||||
@@ -34,8 +29,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|
||||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
@@ -47,31 +43,31 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick Hybrid 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|
||||
@@ -94,10 +90,10 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -107,10 +103,10 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
@@ -118,49 +114,50 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
@@ -187,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
@@ -196,26 +193,27 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
@@ -228,8 +226,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -239,9 +237,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
@@ -255,63 +253,62 @@ A supported vehicle is one that just works when you install a comma device. All
|
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|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-22">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
|
||||
<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
|
||||
<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
@@ -352,7 +349,9 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
||||
* Toyota Venza 2021+
|
||||
* Toyota Sequoia 2023+
|
||||
* Toyota Tundra 2022+
|
||||
* Toyota Highlander 2024+
|
||||
* Toyota Corolla Cross 2022+ (only US model)
|
||||
* Toyota Camry 2025+
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
|
||||
+1
-1
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="9.7"
|
||||
export AGNOS_VERSION="10.1"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
+1
-1
Submodule opendbc updated: ecffe0cc98...9876e5827d
+1
-1
Submodule panda updated: 3b7e3d5885...221f016f07
Generated
+2542
-2370
File diff suppressed because one or more lines are too long
+10
-2
@@ -21,6 +21,7 @@ testpaths = [
|
||||
"selfdrive/thermald",
|
||||
"selfdrive/test/longitudinal_maneuvers",
|
||||
"selfdrive/test/process_replay/test_fuzzy.py",
|
||||
"selfdrive/updated",
|
||||
"system/camerad",
|
||||
"system/hardware/tici",
|
||||
"system/loggerd",
|
||||
@@ -82,11 +83,9 @@ documentation = "https://docs.comma.ai"
|
||||
python = "~3.11"
|
||||
aiohttp = "*"
|
||||
aiortc = "*"
|
||||
casadi = "==3.6.3"
|
||||
cffi = "*"
|
||||
crcmod = "*"
|
||||
Cython = "*"
|
||||
future-fstrings = "*" # for acados
|
||||
json-rpc = "*"
|
||||
libusb1 = "*"
|
||||
numpy = "*"
|
||||
@@ -109,6 +108,10 @@ spidev = { version = "*", platform = "linux" }
|
||||
sympy = "*"
|
||||
websocket_client = "*"
|
||||
|
||||
# acados deps
|
||||
casadi = "*"
|
||||
future-fstrings = "*"
|
||||
|
||||
# these should be removed
|
||||
markdown-it-py = "*"
|
||||
timezonefinder = "*"
|
||||
@@ -170,11 +173,14 @@ build-backend = "poetry.core.masonry.api"
|
||||
|
||||
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
|
||||
[tool.ruff]
|
||||
indent-width = 2
|
||||
lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
|
||||
lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
|
||||
line-length = 160
|
||||
target-version="py311"
|
||||
exclude = [
|
||||
"body",
|
||||
"cereal",
|
||||
"panda",
|
||||
"opendbc",
|
||||
"rednose_repo",
|
||||
@@ -194,3 +200,5 @@ lint.flake8-implicit-str-concat.allow-multiline=false
|
||||
|
||||
[tool.coverage.run]
|
||||
concurrency = ["multiprocessing", "thread"]
|
||||
[tool.ruff.format]
|
||||
quote-style = "preserve"
|
||||
|
||||
+1
-1
Submodule rednose_repo updated: c5762e8bc6...72b3479bab
@@ -1,7 +1,7 @@
|
||||
#!/bin/bash
|
||||
|
||||
while read hash submodule ref; do
|
||||
git -C $submodule fetch --depth 1000 origin master
|
||||
git -C $submodule fetch --depth 2000 origin master
|
||||
git -C $submodule branch -r --contains $hash | grep "origin/master"
|
||||
if [ "$?" -eq 0 ]; then
|
||||
echo "$submodule ok"
|
||||
|
||||
+15
-8
@@ -52,7 +52,9 @@ release/*
|
||||
|
||||
tools/__init__.py
|
||||
tools/lib/*
|
||||
tools/bodyteleop/*
|
||||
tools/bodyteleop/.gitignore
|
||||
tools/bodyteleop/web.py
|
||||
tools/bodyteleop/static/*
|
||||
tools/joystick/*
|
||||
tools/replay/*.cc
|
||||
tools/replay/*.h
|
||||
@@ -60,13 +62,16 @@ tools/replay/*.h
|
||||
selfdrive/__init__.py
|
||||
selfdrive/sentry.py
|
||||
selfdrive/tombstoned.py
|
||||
selfdrive/updated.py
|
||||
selfdrive/statsd.py
|
||||
|
||||
selfdrive/updated/**
|
||||
|
||||
system/logmessaged.py
|
||||
system/micd.py
|
||||
system/version.py
|
||||
|
||||
selfdrive/SConscript
|
||||
|
||||
selfdrive/athena/__init__.py
|
||||
selfdrive/athena/athenad.py
|
||||
selfdrive/athena/manage_athenad.py
|
||||
@@ -88,11 +93,11 @@ selfdrive/boardd/panda.h
|
||||
selfdrive/boardd/spi.cc
|
||||
selfdrive/boardd/panda_comms.h
|
||||
selfdrive/boardd/panda_comms.cc
|
||||
selfdrive/boardd/set_time.py
|
||||
selfdrive/boardd/pandad.py
|
||||
selfdrive/boardd/tests/test_boardd_loopback.py
|
||||
|
||||
selfdrive/car/__init__.py
|
||||
selfdrive/car/card.py
|
||||
selfdrive/car/docs_definitions.py
|
||||
selfdrive/car/car_helpers.py
|
||||
selfdrive/car/fingerprints.py
|
||||
@@ -194,7 +199,6 @@ system/hardware/tici/hardware.h
|
||||
system/hardware/tici/hardware.py
|
||||
system/hardware/tici/pins.py
|
||||
system/hardware/tici/agnos.py
|
||||
system/hardware/tici/casync.py
|
||||
system/hardware/tici/agnos.json
|
||||
system/hardware/tici/amplifier.py
|
||||
system/hardware/tici/updater
|
||||
@@ -206,10 +210,13 @@ system/hardware/pc/hardware.py
|
||||
|
||||
system/ubloxd/.gitignore
|
||||
system/ubloxd/SConscript
|
||||
system/ubloxd/pigeond.py
|
||||
system/ubloxd/generated/*
|
||||
system/ubloxd/*.h
|
||||
system/ubloxd/*.cc
|
||||
|
||||
system/updated/*
|
||||
|
||||
selfdrive/locationd/__init__.py
|
||||
selfdrive/locationd/SConscript
|
||||
selfdrive/locationd/.gitignore
|
||||
@@ -265,7 +272,6 @@ system/sensord/SConscript
|
||||
system/sensord/sensors_qcom2.cc
|
||||
system/sensord/sensors/*.cc
|
||||
system/sensord/sensors/*.h
|
||||
system/sensord/pigeond.py
|
||||
|
||||
system/webrtc/__init__.py
|
||||
system/webrtc/webrtcd.py
|
||||
@@ -308,6 +314,8 @@ selfdrive/ui/qt/network/sunnylink/services/*.h
|
||||
selfdrive/ui/qt/offroad/*.cc
|
||||
selfdrive/ui/qt/offroad/*.h
|
||||
selfdrive/ui/qt/offroad/*.qml
|
||||
selfdrive/ui/qt/onroad/*.cc
|
||||
selfdrive/ui/qt/onroad/*.h
|
||||
selfdrive/ui/qt/offroad/sunnypilot/*.cc
|
||||
selfdrive/ui/qt/offroad/sunnypilot/*.h
|
||||
selfdrive/ui/qt/widgets/*.cc
|
||||
@@ -369,8 +377,6 @@ selfdrive/modeld/models/supercombo.onnx
|
||||
|
||||
selfdrive/modeld/models/dmonitoring_model_q.dlc
|
||||
|
||||
selfdrive/modeld/models/navmodel_q.dlc
|
||||
|
||||
selfdrive/modeld/transforms/loadyuv.cc
|
||||
selfdrive/modeld/transforms/loadyuv.h
|
||||
selfdrive/modeld/transforms/loadyuv.cl
|
||||
@@ -586,7 +592,8 @@ opendbc/vw_golf_mk4.dbc
|
||||
opendbc/vw_mqb_2010.dbc
|
||||
|
||||
opendbc/tesla_can.dbc
|
||||
opendbc/tesla_radar.dbc
|
||||
opendbc/tesla_radar_bosch_generated.dbc
|
||||
opendbc/tesla_radar_continental_generated.dbc
|
||||
opendbc/tesla_powertrain.dbc
|
||||
|
||||
tinygrad_repo/openpilot/compile2.py
|
||||
|
||||
+1
-1
@@ -7,7 +7,7 @@ system/camerad/cameras/camera_qcom2.cc
|
||||
system/camerad/cameras/camera_qcom2.h
|
||||
system/camerad/cameras/camera_util.cc
|
||||
system/camerad/cameras/camera_util.h
|
||||
system/camerad/cameras/real_debayer.cl
|
||||
system/camerad/cameras/process_raw.cl
|
||||
|
||||
system/qcomgpsd/*
|
||||
|
||||
|
||||
@@ -1,16 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
set -e
|
||||
|
||||
RED="\033[0;31m"
|
||||
GREEN="\033[0;32m"
|
||||
CLEAR="\033[0m"
|
||||
|
||||
BRANCHES="devel release3"
|
||||
for b in $BRANCHES; do
|
||||
if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
|
||||
printf "%-10s $GREEN ok $CLEAR\n" "$b"
|
||||
else
|
||||
printf "%-10s $RED mismatch $CLEAR\n" "$b"
|
||||
fi
|
||||
done
|
||||
+2
-2
@@ -1,3 +1,3 @@
|
||||
#!/usr/bin/bash
|
||||
nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1
|
||||
nmcli con up lte
|
||||
nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
|
||||
nmcli con up esim
|
||||
|
||||
@@ -2,10 +2,10 @@
|
||||
from collections import Counter
|
||||
from pprint import pprint
|
||||
|
||||
from openpilot.selfdrive.car.docs import get_all_car_info
|
||||
from openpilot.selfdrive.car.docs import get_all_car_docs
|
||||
|
||||
if __name__ == "__main__":
|
||||
cars = get_all_car_info()
|
||||
cars = get_all_car_docs()
|
||||
make_count = Counter(l.make for l in cars)
|
||||
print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
|
||||
pprint(make_count)
|
||||
|
||||
@@ -2,6 +2,6 @@
|
||||
|
||||
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
|
||||
|
||||
export FINGERPRINT="TOYOTA COROLLA TSS2 2019"
|
||||
export FINGERPRINT="TOYOTA_COROLLA_TSS2"
|
||||
export SKIP_FW_QUERY="1"
|
||||
$DIR/../launch_openpilot.sh
|
||||
|
||||
@@ -8,6 +8,7 @@ from common.basedir import BASEDIR
|
||||
from selfdrive.car import gen_empty_fingerprint
|
||||
from selfdrive.car.car_helpers import interfaces
|
||||
from selfdrive.car.docs import get_all_footnotes
|
||||
from openpilot.selfdrive.car.values import PLATFORMS
|
||||
|
||||
UNSUPPORTED_BRANDS = ["body", "tesla"]
|
||||
|
||||
@@ -18,26 +19,22 @@ def get_all_car_names() -> Dict[str, str]:
|
||||
|
||||
car_names["=== Not Selected ==="] = ""
|
||||
|
||||
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True, exclude_brands=UNSUPPORTED_BRANDS).items():
|
||||
CP = interfaces[model][0].get_params(
|
||||
model,
|
||||
fingerprint=gen_empty_fingerprint(),
|
||||
car_fw=[car.CarParams.CarFw(ecu="unknown")],
|
||||
experimental_long=False,
|
||||
docs=True
|
||||
)
|
||||
for model, platform in PLATFORMS.items():
|
||||
car_docs = platform.config.car_docs
|
||||
CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
|
||||
car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
|
||||
|
||||
if CP.dashcamOnly or car_info is None:
|
||||
if CP.dashcamOnly or not len(car_docs):
|
||||
continue
|
||||
|
||||
if not isinstance(car_info, list):
|
||||
car_info = (car_info,)
|
||||
if not isinstance(car_docs, list):
|
||||
car_docs = (car_docs,)
|
||||
|
||||
for _car_info in car_info:
|
||||
if not hasattr(_car_info, "row"):
|
||||
_car_info.init_make(CP)
|
||||
_car_info.init(CP, footnotes)
|
||||
car_names[_car_info.name] = model
|
||||
for _car_docs in car_docs:
|
||||
if not hasattr(_car_docs, "row"):
|
||||
_car_docs.init_make(CP)
|
||||
_car_docs.init(CP, footnotes)
|
||||
car_names[_car_docs.name] = model
|
||||
|
||||
sorted_car_names = natsorted(car_names.keys(), key=lambda car: car.lower())
|
||||
return {car_name: car_names[car_name] for car_name in sorted_car_names}
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env sh
|
||||
|
||||
# Stop updater
|
||||
pkill -2 -f selfdrive.updated
|
||||
pkill -2 -f selfdrive.updated.updated
|
||||
|
||||
# Remove pending update
|
||||
rm -f /data/safe_staging/finalized/.overlay_consistent
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
SConscript(['boardd/SConscript'])
|
||||
SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
|
||||
SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
|
||||
SConscript(['locationd/SConscript'])
|
||||
SConscript(['navd/SConscript'])
|
||||
SConscript(['modeld/SConscript'])
|
||||
SConscript(['ui/SConscript'])
|
||||
@@ -38,7 +38,7 @@ from openpilot.common.realtime import set_core_affinity
|
||||
from openpilot.system.hardware import HARDWARE, PC
|
||||
from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.version import get_commit, get_normalized_origin, get_short_branch, get_version
|
||||
from openpilot.system.version import get_build_metadata
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
|
||||
@@ -320,11 +320,12 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
|
||||
|
||||
@dispatcher.add_method
|
||||
def getVersion() -> dict[str, str]:
|
||||
build_metadata = get_build_metadata()
|
||||
return {
|
||||
"version": get_version(),
|
||||
"remote": get_normalized_origin(),
|
||||
"branch": get_short_branch(),
|
||||
"commit": get_commit(),
|
||||
"version": build_metadata.openpilot.version,
|
||||
"remote": build_metadata.openpilot.git_normalized_origin,
|
||||
"branch": build_metadata.channel,
|
||||
"commit": build_metadata.openpilot.git_commit,
|
||||
}
|
||||
|
||||
|
||||
@@ -467,6 +468,10 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
|
||||
cookie="jwt=" + identity_token,
|
||||
enable_multithread=True)
|
||||
|
||||
# Set TOS to keep connection responsive while under load.
|
||||
# DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
|
||||
ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)
|
||||
|
||||
ssock, csock = socket.socketpair()
|
||||
local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
local_sock.connect(('127.0.0.1', local_port))
|
||||
@@ -657,10 +662,12 @@ def stat_handler(end_event: threading.Event) -> None:
|
||||
def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
|
||||
while not (end_event.is_set() or global_end_event.is_set()):
|
||||
try:
|
||||
data = ws.recv()
|
||||
if isinstance(data, str):
|
||||
data = data.encode("utf-8")
|
||||
local_sock.sendall(data)
|
||||
r = select.select((ws.sock,), (), (), 30)
|
||||
if r[0]:
|
||||
data = ws.recv()
|
||||
if isinstance(data, str):
|
||||
data = data.encode("utf-8")
|
||||
local_sock.sendall(data)
|
||||
except WebSocketTimeoutException:
|
||||
pass
|
||||
except Exception:
|
||||
@@ -670,6 +677,7 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket
|
||||
cloudlog.debug("athena.ws_proxy_recv closing sockets")
|
||||
ssock.close()
|
||||
local_sock.close()
|
||||
ws.close()
|
||||
cloudlog.debug("athena.ws_proxy_recv done closing sockets")
|
||||
|
||||
end_event.set()
|
||||
|
||||
@@ -7,35 +7,40 @@ from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.manager.process import launcher
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty
|
||||
from openpilot.system.version import get_build_metadata
|
||||
|
||||
ATHENA_MGR_PID_PARAM = "AthenadPid"
|
||||
|
||||
|
||||
def main():
|
||||
manage_athenad("DongleId", ATHENA_MGR_PID_PARAM, 'athenad', 'selfdrive.athena.athenad')
|
||||
|
||||
|
||||
def manage_athenad(dongle_id_param, pid_param, process_name, target):
|
||||
params = Params()
|
||||
dongle_id = params.get("DongleId").decode('utf-8')
|
||||
dongle_id = params.get(dongle_id_param).decode('utf-8')
|
||||
build_metadata = get_build_metadata()
|
||||
|
||||
cloudlog.bind_global(dongle_id=dongle_id,
|
||||
version=get_version(),
|
||||
origin=get_normalized_origin(),
|
||||
branch=get_short_branch(),
|
||||
commit=get_commit(),
|
||||
dirty=is_dirty(),
|
||||
version=build_metadata.openpilot.version,
|
||||
origin=build_metadata.openpilot.git_normalized_origin,
|
||||
branch=build_metadata.channel,
|
||||
commit=build_metadata.openpilot.git_commit,
|
||||
dirty=build_metadata.openpilot.is_dirty,
|
||||
device=HARDWARE.get_device_type())
|
||||
|
||||
try:
|
||||
while 1:
|
||||
cloudlog.info("starting athena daemon")
|
||||
proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad'))
|
||||
cloudlog.info(f"starting {process_name} daemon")
|
||||
proc = Process(name=process_name, target=launcher, args=(target, process_name))
|
||||
proc.start()
|
||||
proc.join()
|
||||
cloudlog.event("athenad exited", exitcode=proc.exitcode)
|
||||
cloudlog.event(f"{process_name} exited", exitcode=proc.exitcode)
|
||||
time.sleep(5)
|
||||
except Exception:
|
||||
cloudlog.exception("manage_athenad.exception")
|
||||
cloudlog.exception(f"manage_{process_name}.exception")
|
||||
finally:
|
||||
params.remove(ATHENA_MGR_PID_PARAM)
|
||||
|
||||
params.remove(pid_param)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
@@ -1,42 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
#TODO: Add this to files_common to allow release to public
|
||||
|
||||
import time
|
||||
from multiprocessing import Process
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.manager.process import launcher
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty
|
||||
|
||||
SUNNYLINK_MGR_PID_PARAM = "SunnylinkdPid"
|
||||
|
||||
|
||||
def main():
|
||||
params = Params()
|
||||
dongle_id = params.get("SunnylinkDongleId").decode('utf-8')
|
||||
cloudlog.bind_global(dongle_id=dongle_id,
|
||||
version=get_version(),
|
||||
origin=get_normalized_origin(),
|
||||
branch=get_short_branch(),
|
||||
commit=get_commit(),
|
||||
dirty=is_dirty(),
|
||||
device=HARDWARE.get_device_type())
|
||||
|
||||
try:
|
||||
while 1:
|
||||
cloudlog.info("starting athena daemon")
|
||||
proc = Process(name='sunnylinkd', target=launcher, args=('selfdrive.athena.sunnylinkd', 'sunnylinkd'))
|
||||
proc.start()
|
||||
proc.join()
|
||||
cloudlog.event("sunnylinkd exited", exitcode=proc.exitcode)
|
||||
time.sleep(5)
|
||||
except Exception:
|
||||
cloudlog.exception("manage_sunnylinkd.exception")
|
||||
finally:
|
||||
params.remove(SUNNYLINK_MGR_PID_PARAM)
|
||||
|
||||
from selfdrive.athena.manage_athenad import manage_athenad
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
manage_athenad("SunnylinkDongleId", "SunnylinkdPid", 'sunnylinkd', 'selfdrive.athena.sunnylinkd')
|
||||
|
||||
@@ -35,6 +35,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
|
||||
threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
|
||||
threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
|
||||
threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
|
||||
# threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
|
||||
# threading.Thread(target=log_handler, args=(end_event,), name='log_handler'),
|
||||
# threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
|
||||
@@ -60,23 +61,16 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
|
||||
def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
|
||||
last_ping = int(time.monotonic() * 1e9)
|
||||
resume_requested = False
|
||||
while not end_event.is_set():
|
||||
try:
|
||||
if(not resume_requested):
|
||||
sunnylink_api.resume_queued()
|
||||
resume_requested = True
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.resume_queued.exception")
|
||||
resume_requested = False
|
||||
|
||||
try:
|
||||
opcode, data = ws.recv_data(control_frame=True)
|
||||
if opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY):
|
||||
if opcode == ABNF.OPCODE_TEXT:
|
||||
data = data.decode("utf-8")
|
||||
recv_queue.put_nowait(data)
|
||||
cloudlog.debug(f"sunnylinkd.ws_recv.recv {data}")
|
||||
elif opcode in (ABNF.OPCODE_PING, ABNF.OPCODE_PONG):
|
||||
cloudlog.debug(f"sunnylinkd.ws_recv.pong {opcode}")
|
||||
last_ping = int(time.monotonic() * 1e9)
|
||||
Params().put("LastSunnylinkPingTime", str(last_ping))
|
||||
except WebSocketTimeoutException:
|
||||
@@ -94,11 +88,30 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
|
||||
while not end_event.is_set():
|
||||
try:
|
||||
ws.ping()
|
||||
cloudlog.debug(f"sunnylinkd.ws_recv.ws_ping: Pinging")
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.ws_ping.exception")
|
||||
end_event.set()
|
||||
time.sleep(RECONNECT_TIMEOUT_S * 0.8) # Sleep about 80% before a timeout
|
||||
|
||||
def ws_queue(end_event: threading.Event) -> None:
|
||||
resume_requested = False
|
||||
tries = 0
|
||||
|
||||
while not end_event.is_set() and not resume_requested:
|
||||
try:
|
||||
if not resume_requested:
|
||||
cloudlog.debug(f"sunnylinkd.ws_queue.resume_queued")
|
||||
sunnylink_api.resume_queued(timeout=29)
|
||||
resume_requested = True
|
||||
tries = 0
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
|
||||
resume_requested = False
|
||||
tries += 1
|
||||
time.sleep(backoff(tries)) # Wait for the backoff time before the next attempt
|
||||
cloudlog.debug("Resume requested or end_event is set, exiting ws_queue thread")
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsAllKeys() -> list[str]:
|
||||
|
||||
@@ -43,6 +43,8 @@ class MockApi():
|
||||
|
||||
|
||||
class MockWebsocket():
|
||||
sock = socket.socket()
|
||||
|
||||
def __init__(self, recv_queue, send_queue):
|
||||
self.recv_queue = recv_queue
|
||||
self.send_queue = send_queue
|
||||
@@ -56,6 +58,9 @@ class MockWebsocket():
|
||||
def send(self, data, opcode):
|
||||
self.send_queue.put_nowait((data, opcode))
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
||||
|
||||
class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
|
||||
def do_PUT(self):
|
||||
|
||||
@@ -49,12 +49,6 @@ std::atomic<bool> ignition(false);
|
||||
|
||||
ExitHandler do_exit;
|
||||
|
||||
static std::string get_time_str(const struct tm &time) {
|
||||
char s[30] = {'\0'};
|
||||
std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
|
||||
return s;
|
||||
}
|
||||
|
||||
bool check_all_connected(const std::vector<Panda *> &pandas) {
|
||||
for (const auto& panda : pandas) {
|
||||
if (!panda->connected()) {
|
||||
@@ -65,36 +59,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
|
||||
return true;
|
||||
}
|
||||
|
||||
enum class SyncTimeDir { TO_PANDA, FROM_PANDA };
|
||||
|
||||
void sync_time(Panda *panda, SyncTimeDir dir) {
|
||||
if (!panda->has_rtc) return;
|
||||
|
||||
setenv("TZ", "UTC", 1);
|
||||
struct tm sys_time = util::get_time();
|
||||
struct tm rtc_time = panda->get_rtc();
|
||||
|
||||
if (dir == SyncTimeDir::TO_PANDA) {
|
||||
if (util::time_valid(sys_time)) {
|
||||
// Write time to RTC if it looks reasonable
|
||||
double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
|
||||
if (std::abs(seconds) > 1.1) {
|
||||
panda->set_rtc(sys_time);
|
||||
LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
|
||||
seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
|
||||
}
|
||||
}
|
||||
} else if (dir == SyncTimeDir::FROM_PANDA) {
|
||||
LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
|
||||
|
||||
if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
|
||||
const struct timeval tv = {mktime(&rtc_time), 0};
|
||||
settimeofday(&tv, 0);
|
||||
LOGE("System time wrong, setting from RTC.");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool safety_setter_thread(std::vector<Panda *> pandas) {
|
||||
LOGD("Starting safety setter thread");
|
||||
|
||||
@@ -180,7 +144,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
|
||||
Panda *connect(std::string serial="", uint32_t index=0) {
|
||||
std::unique_ptr<Panda> panda;
|
||||
try {
|
||||
panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_CNT));
|
||||
panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
|
||||
} catch (std::exception &e) {
|
||||
return nullptr;
|
||||
}
|
||||
@@ -195,7 +159,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
|
||||
throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
|
||||
}
|
||||
|
||||
sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
|
||||
return panda.release();
|
||||
}
|
||||
|
||||
@@ -353,7 +316,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
|
||||
ps.setControlsAllowed(health.controls_allowed_pkt);
|
||||
ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
|
||||
ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
|
||||
ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
|
||||
ps.setPandaType(panda->hw_type);
|
||||
ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
|
||||
ps.setSafetyParam(health.safety_param_pkt);
|
||||
@@ -581,11 +543,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
|
||||
panda->set_ir_pwr(ir_pwr);
|
||||
prev_ir_pwr = ir_pwr;
|
||||
}
|
||||
|
||||
// Write to rtc once per minute when no ignition present
|
||||
if (!ignition && (sm.frame % 120 == 1)) {
|
||||
sync_time(panda, SyncTimeDir::TO_PANDA);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -25,10 +25,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
|
||||
}
|
||||
|
||||
hw_type = get_hw_type();
|
||||
has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
|
||||
(hw_type == cereal::PandaState::PandaType::DOS) ||
|
||||
(hw_type == cereal::PandaState::PandaType::TRES);
|
||||
|
||||
can_reset_communications();
|
||||
|
||||
return;
|
||||
@@ -77,41 +73,6 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
|
||||
return (cereal::PandaState::PandaType)(hw_query[0]);
|
||||
}
|
||||
|
||||
void Panda::set_rtc(struct tm sys_time) {
|
||||
// tm struct has year defined as years since 1900
|
||||
handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
|
||||
handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
|
||||
handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
|
||||
// handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
|
||||
handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
|
||||
handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
|
||||
handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
|
||||
}
|
||||
|
||||
struct tm Panda::get_rtc() {
|
||||
struct __attribute__((packed)) timestamp_t {
|
||||
uint16_t year; // Starts at 0
|
||||
uint8_t month;
|
||||
uint8_t day;
|
||||
uint8_t weekday;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
uint8_t second;
|
||||
} rtc_time = {0};
|
||||
|
||||
handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
|
||||
|
||||
struct tm new_time = { 0 };
|
||||
new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
|
||||
new_time.tm_mon = rtc_time.month - 1;
|
||||
new_time.tm_mday = rtc_time.day;
|
||||
new_time.tm_hour = rtc_time.hour;
|
||||
new_time.tm_min = rtc_time.minute;
|
||||
new_time.tm_sec = rtc_time.second;
|
||||
|
||||
return new_time;
|
||||
}
|
||||
|
||||
void Panda::set_fan_speed(uint16_t fan_speed) {
|
||||
handle->control_write(0xb1, fan_speed, 0);
|
||||
}
|
||||
@@ -211,7 +172,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
|
||||
for (auto cmsg : can_data_list) {
|
||||
// check if the message is intended for this panda
|
||||
uint8_t bus = cmsg.getSrc();
|
||||
if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) {
|
||||
if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
|
||||
continue;
|
||||
}
|
||||
auto can_data = cmsg.getDat();
|
||||
@@ -284,6 +245,13 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
|
||||
break;
|
||||
}
|
||||
|
||||
if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
|
||||
// TODO: also reset CAN comms?
|
||||
LOGE("Panda CAN checksum failed");
|
||||
size = 0;
|
||||
return false;
|
||||
}
|
||||
|
||||
can_frame &canData = out_vec.emplace_back();
|
||||
canData.busTime = 0;
|
||||
canData.address = header.addr;
|
||||
@@ -295,12 +263,6 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
|
||||
canData.src += CAN_RETURNED_BUS_OFFSET;
|
||||
}
|
||||
|
||||
if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
|
||||
LOGE("Panda CAN checksum failed");
|
||||
size = 0;
|
||||
return false;
|
||||
}
|
||||
|
||||
canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
|
||||
|
||||
pos += sizeof(can_header) + data_len;
|
||||
|
||||
@@ -23,6 +23,8 @@
|
||||
#define CAN_REJECTED_BUS_OFFSET 0xC0U
|
||||
#define CAN_RETURNED_BUS_OFFSET 0x80U
|
||||
|
||||
#define PANDA_BUS_OFFSET 4
|
||||
|
||||
struct __attribute__((packed)) can_header {
|
||||
uint8_t reserved : 1;
|
||||
uint8_t bus : 3;
|
||||
@@ -50,7 +52,6 @@ public:
|
||||
Panda(std::string serial="", uint32_t bus_offset=0);
|
||||
|
||||
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
|
||||
bool has_rtc = false;
|
||||
const uint32_t bus_offset;
|
||||
|
||||
bool connected();
|
||||
@@ -64,8 +65,6 @@ public:
|
||||
cereal::PandaState::PandaType get_hw_type();
|
||||
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
|
||||
void set_alternative_experience(uint16_t alternative_experience);
|
||||
void set_rtc(struct tm sys_time);
|
||||
struct tm get_rtc();
|
||||
void set_fan_speed(uint16_t fan_speed);
|
||||
uint16_t get_fan_speed();
|
||||
void set_ir_pwr(uint16_t ir_pwr);
|
||||
|
||||
@@ -78,5 +78,6 @@ private:
|
||||
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);
|
||||
int lltransfer(spi_ioc_transfer &t);
|
||||
};
|
||||
#endif
|
||||
|
||||
@@ -5,12 +5,10 @@ import usb1
|
||||
import time
|
||||
import subprocess
|
||||
from typing import NoReturn
|
||||
from functools import cmp_to_key
|
||||
|
||||
from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.boardd.set_time import set_time
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
@@ -63,24 +61,6 @@ def flash_panda(panda_serial: str) -> Panda:
|
||||
return panda
|
||||
|
||||
|
||||
def panda_sort_cmp(a: Panda, b: Panda):
|
||||
a_type = a.get_type()
|
||||
b_type = b.get_type()
|
||||
|
||||
# make sure the internal one is always first
|
||||
if a.is_internal() and not b.is_internal():
|
||||
return -1
|
||||
if not a.is_internal() and b.is_internal():
|
||||
return 1
|
||||
|
||||
# sort by hardware type
|
||||
if a_type != b_type:
|
||||
return a_type < b_type
|
||||
|
||||
# last resort: sort by serial number
|
||||
return a.get_usb_serial() < b.get_usb_serial()
|
||||
|
||||
|
||||
def main() -> NoReturn:
|
||||
count = 0
|
||||
first_run = True
|
||||
@@ -137,7 +117,10 @@ def main() -> NoReturn:
|
||||
no_internal_panda_count = 0
|
||||
|
||||
# sort pandas to have deterministic order
|
||||
pandas.sort(key=cmp_to_key(panda_sort_cmp))
|
||||
# * the internal one is always first
|
||||
# * then sort by hardware type
|
||||
# * as a last resort, sort by serial number
|
||||
pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial()))
|
||||
panda_serials = [p.get_usb_serial() for p in pandas]
|
||||
|
||||
# log panda fw versions
|
||||
@@ -154,16 +137,9 @@ def main() -> NoReturn:
|
||||
cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
|
||||
|
||||
if first_run:
|
||||
if panda.is_internal():
|
||||
# update time from RTC
|
||||
set_time(cloudlog)
|
||||
|
||||
# reset panda to ensure we're in a good state
|
||||
cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
|
||||
if panda.is_internal():
|
||||
HARDWARE.reset_internal_panda()
|
||||
else:
|
||||
panda.reset(reconnect=False)
|
||||
panda.reset(reconnect=True)
|
||||
|
||||
for p in pandas:
|
||||
p.close()
|
||||
|
||||
@@ -1,38 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import datetime
|
||||
from panda import Panda
|
||||
|
||||
from openpilot.common.time import MIN_DATE
|
||||
|
||||
def set_time(logger):
|
||||
sys_time = datetime.datetime.today()
|
||||
if sys_time > MIN_DATE:
|
||||
logger.info("System time valid")
|
||||
return
|
||||
|
||||
try:
|
||||
ps = Panda.list()
|
||||
if len(ps) == 0:
|
||||
logger.error("Failed to set time, no pandas found")
|
||||
return
|
||||
|
||||
for s in ps:
|
||||
with Panda(serial=s) as p:
|
||||
if not p.is_internal():
|
||||
continue
|
||||
|
||||
# Set system time from panda RTC time
|
||||
panda_time = p.get_datetime()
|
||||
if panda_time > MIN_DATE:
|
||||
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
|
||||
os.system(f"TZ=UTC date -s '{panda_time}'")
|
||||
break
|
||||
except Exception:
|
||||
logger.exception("Failed to fetch time from panda")
|
||||
|
||||
if __name__ == "__main__":
|
||||
import logging
|
||||
logging.basicConfig(level=logging.DEBUG)
|
||||
|
||||
set_time(logging)
|
||||
+30
-4
@@ -268,7 +268,7 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
|
||||
tx_buf[0] = tx;
|
||||
|
||||
while (true) {
|
||||
int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
|
||||
int ret = lltransfer(transfer);
|
||||
if (ret < 0) {
|
||||
LOGE("SPI: failed to send ACK request");
|
||||
return ret;
|
||||
@@ -291,6 +291,32 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) {
|
||||
static const double err_prob = std::stod(util::getenv("SPI_ERR_PROB", "-1"));
|
||||
|
||||
if (err_prob > 0) {
|
||||
if ((static_cast<double>(rand()) / RAND_MAX) < err_prob) {
|
||||
printf("transfer len error\n");
|
||||
t.len = rand() % SPI_BUF_SIZE;
|
||||
}
|
||||
if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.tx_buf != (uint64_t)NULL) {
|
||||
printf("corrupting TX\n");
|
||||
memset((uint8_t*)t.tx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1));
|
||||
}
|
||||
}
|
||||
|
||||
int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &t);
|
||||
|
||||
if (err_prob > 0) {
|
||||
if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.rx_buf != (uint64_t)NULL) {
|
||||
printf("corrupting RX\n");
|
||||
memset((uint8_t*)t.rx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1));
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
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;
|
||||
@@ -316,7 +342,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
memcpy(tx_buf, &header, sizeof(header));
|
||||
add_checksum(tx_buf, sizeof(header));
|
||||
transfer.len = sizeof(header) + 1;
|
||||
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
|
||||
ret = lltransfer(transfer);
|
||||
if (ret < 0) {
|
||||
LOGE("SPI: failed to send header");
|
||||
goto transfer_fail;
|
||||
@@ -334,7 +360,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
}
|
||||
add_checksum(tx_buf, tx_len);
|
||||
transfer.len = tx_len + 1;
|
||||
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
|
||||
ret = lltransfer(transfer);
|
||||
if (ret < 0) {
|
||||
LOGE("SPI: failed to send data");
|
||||
goto transfer_fail;
|
||||
@@ -355,7 +381,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
|
||||
transfer.len = rx_data_len + 1;
|
||||
transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
|
||||
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
|
||||
ret = lltransfer(transfer);
|
||||
if (ret < 0) {
|
||||
LOGE("SPI: failed to read rx data");
|
||||
goto transfer_fail;
|
||||
|
||||
@@ -40,7 +40,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
|
||||
uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
|
||||
const std::string &dat = test_data[dlc_to_len[id]];
|
||||
can.setAddress(i);
|
||||
can.setSrc(util::random_int(0, 3) + bus_offset);
|
||||
can.setSrc(util::random_int(0, 2) + bus_offset);
|
||||
can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
|
||||
total_pakets_size += sizeof(can_header) + dat.size();
|
||||
}
|
||||
|
||||
@@ -23,23 +23,28 @@ class TestPandad(unittest.TestCase):
|
||||
if len(Panda.list()) == 0:
|
||||
self._run_test(60)
|
||||
|
||||
self.spi = HARDWARE.get_device_type() != 'tici'
|
||||
|
||||
def tearDown(self):
|
||||
managed_processes['pandad'].stop()
|
||||
|
||||
def _run_test(self, timeout=30):
|
||||
def _run_test(self, timeout=30) -> float:
|
||||
st = time.monotonic()
|
||||
sm = messaging.SubMaster(['pandaStates'])
|
||||
|
||||
managed_processes['pandad'].start()
|
||||
|
||||
sm = messaging.SubMaster(['peripheralState'])
|
||||
for _ in range(timeout*10):
|
||||
while (time.monotonic() - st) < timeout:
|
||||
sm.update(100)
|
||||
if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
|
||||
if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
|
||||
break
|
||||
|
||||
dt = time.monotonic() - st
|
||||
managed_processes['pandad'].stop()
|
||||
|
||||
if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
|
||||
if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
|
||||
raise Exception("boardd failed to start")
|
||||
|
||||
return dt
|
||||
|
||||
def _go_to_dfu(self):
|
||||
HARDWARE.recover_internal_panda()
|
||||
assert Panda.wait_for_dfu(None, 10)
|
||||
@@ -88,14 +93,23 @@ class TestPandad(unittest.TestCase):
|
||||
assert any(Panda(s).is_internal() for s in Panda.list())
|
||||
|
||||
def test_best_case_startup_time(self):
|
||||
# run once so we're setup
|
||||
# run once so we're up to date
|
||||
self._run_test(60)
|
||||
|
||||
# should be fast this time
|
||||
self._run_test(8)
|
||||
ts = []
|
||||
for _ in range(10):
|
||||
# should be nearly instant this time
|
||||
dt = self._run_test(5)
|
||||
ts.append(dt)
|
||||
|
||||
# 5s for USB (due to enumeration)
|
||||
# - 0.2s pandad -> boardd
|
||||
# - plus some buffer
|
||||
assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
|
||||
print("startup times", ts, sum(ts) / len(ts))
|
||||
|
||||
def test_protocol_version_check(self):
|
||||
if HARDWARE.get_device_type() == 'tici':
|
||||
if not self.spi:
|
||||
raise unittest.SkipTest("SPI test")
|
||||
# flash old fw
|
||||
fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
|
||||
|
||||
@@ -12,12 +12,12 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# {{all_car_info | length}} Supported Cars
|
||||
# {{all_car_docs | length}} Supported Cars
|
||||
|
||||
|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
|
||||
|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
|
||||
{% for car_info in all_car_info %}
|
||||
|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
|
||||
{% for car_docs in all_car_docs %}
|
||||
|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
|
||||
|
||||
{% endfor %}
|
||||
|
||||
@@ -65,7 +65,9 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
||||
* Toyota Venza 2021+
|
||||
* Toyota Sequoia 2023+
|
||||
* Toyota Tundra 2022+
|
||||
* Toyota Highlander 2024+
|
||||
* Toyota Corolla Cross 2022+ (only US model)
|
||||
* Toyota Camry 2025+
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
|
||||
+69
-19
@@ -1,13 +1,15 @@
|
||||
# functions common among cars
|
||||
from collections import namedtuple
|
||||
from dataclasses import dataclass, field, replace
|
||||
from enum import ReprEnum
|
||||
from dataclasses import dataclass
|
||||
from enum import IntFlag, ReprEnum, EnumType
|
||||
from dataclasses import replace
|
||||
|
||||
import capnp
|
||||
|
||||
from cereal import car
|
||||
from openpilot.common.numpy_fast import clip, interp
|
||||
from openpilot.selfdrive.car.docs_definitions import CarInfo
|
||||
from openpilot.common.utils import Freezable
|
||||
from openpilot.selfdrive.car.docs_definitions import CarDocs
|
||||
|
||||
|
||||
# kg of standard extra cargo to count for drive, gas, etc...
|
||||
@@ -249,26 +251,32 @@ class CanSignalRateCalculator:
|
||||
return self.rate
|
||||
|
||||
|
||||
CarInfos = CarInfo | list[CarInfo]
|
||||
|
||||
|
||||
@dataclass(frozen=True, kw_only=True)
|
||||
class CarSpecs:
|
||||
mass: float
|
||||
wheelbase: float
|
||||
mass: float # kg, curb weight
|
||||
wheelbase: float # meters
|
||||
steerRatio: float
|
||||
centerToFrontRatio: float = field(default=0.5)
|
||||
minSteerSpeed: float = field(default=0.)
|
||||
minEnableSpeed: float = field(default=-1.)
|
||||
centerToFrontRatio: float = 0.5
|
||||
minSteerSpeed: float = 0.0 # m/s
|
||||
minEnableSpeed: float = -1.0 # m/s
|
||||
tireStiffnessFactor: float = 1.0
|
||||
|
||||
def override(self, **kwargs):
|
||||
return replace(self, **kwargs)
|
||||
|
||||
|
||||
@dataclass(frozen=True, order=True)
|
||||
class PlatformConfig:
|
||||
platform_str: str
|
||||
car_info: CarInfos
|
||||
@dataclass(order=True)
|
||||
class PlatformConfig(Freezable):
|
||||
car_docs: list[CarDocs]
|
||||
specs: CarSpecs
|
||||
|
||||
dbc_dict: DbcDict
|
||||
|
||||
specs: CarSpecs | None = None
|
||||
flags: int = 0
|
||||
|
||||
spFlags: int = 0
|
||||
|
||||
platform_str: str | None = None
|
||||
|
||||
def __hash__(self) -> int:
|
||||
return hash(self.platform_str)
|
||||
@@ -276,8 +284,23 @@ class PlatformConfig:
|
||||
def override(self, **kwargs):
|
||||
return replace(self, **kwargs)
|
||||
|
||||
def init(self):
|
||||
pass
|
||||
|
||||
class Platforms(str, ReprEnum):
|
||||
def __post_init__(self):
|
||||
self.init()
|
||||
|
||||
|
||||
class PlatformsType(EnumType):
|
||||
def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
|
||||
for key in classdict._member_names.keys():
|
||||
cfg: PlatformConfig = classdict[key]
|
||||
cfg.platform_str = key
|
||||
cfg.freeze()
|
||||
return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
|
||||
|
||||
|
||||
class Platforms(str, ReprEnum, metaclass=PlatformsType):
|
||||
config: PlatformConfig
|
||||
|
||||
def __new__(cls, platform_config: PlatformConfig):
|
||||
@@ -286,10 +309,37 @@ class Platforms(str, ReprEnum):
|
||||
member._value_ = platform_config.platform_str
|
||||
return member
|
||||
|
||||
def __repr__(self):
|
||||
return f"<{self.__class__.__name__}.{self.name}>"
|
||||
|
||||
@classmethod
|
||||
def create_dbc_map(cls) -> dict[str, DbcDict]:
|
||||
return {p: p.config.dbc_dict for p in cls}
|
||||
|
||||
@classmethod
|
||||
def create_carinfo_map(cls) -> dict[str, CarInfos]:
|
||||
return {p: p.config.car_info for p in cls}
|
||||
def with_flags(cls, flags: IntFlag) -> set['Platforms']:
|
||||
return {p for p in cls if p.config.flags & flags}
|
||||
|
||||
@classmethod
|
||||
def without_flags(cls, flags: IntFlag) -> set['Platforms']:
|
||||
return {p for p in cls if not (p.config.flags & flags)}
|
||||
|
||||
@classmethod
|
||||
def with_sp_flags(cls, spFlags: IntFlag) -> set['Platforms']:
|
||||
return {p for p in cls if p.config.spFlags & spFlags}
|
||||
|
||||
@classmethod
|
||||
def without_sp_flags(cls, spFlags: IntFlag) -> set['Platforms']:
|
||||
return {p for p in cls if not (p.config.spFlags & spFlags)}
|
||||
|
||||
@classmethod
|
||||
def print_debug(cls, flags):
|
||||
platforms_with_flag = defaultdict(list)
|
||||
for flag in flags:
|
||||
for platform in cls:
|
||||
if platform.config.flags & flag:
|
||||
assert flag.name is not None
|
||||
platforms_with_flag[flag.name].append(platform)
|
||||
|
||||
for flag, platforms in platforms_with_flag.items():
|
||||
print(f"{flag:32s}: {', '.join(p.name for p in platforms)}")
|
||||
|
||||
@@ -4,6 +4,7 @@ from openpilot.common.realtime import DT_CTRL
|
||||
from opendbc.can.packer import CANPacker
|
||||
from openpilot.selfdrive.car.body import bodycan
|
||||
from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
from openpilot.selfdrive.controls.lib.pid import PIDController
|
||||
|
||||
|
||||
@@ -14,7 +15,7 @@ MAX_POS_INTEGRATOR = 0.2 # meters
|
||||
MAX_TURN_INTEGRATOR = 0.1 # meters
|
||||
|
||||
|
||||
class CarController:
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.frame = 0
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
@@ -8,13 +8,13 @@ Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.BODY: [{
|
||||
CAR.COMMA_BODY: [{
|
||||
513: 8, 516: 8, 514: 3, 515: 4
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.BODY: {
|
||||
CAR.COMMA_BODY: {
|
||||
(Ecu.engine, 0x720, None): [
|
||||
b'0.0.01',
|
||||
b'0.3.00a',
|
||||
|
||||
@@ -14,14 +14,10 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.minSteerSpeed = -math.inf
|
||||
ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
|
||||
ret.steerRatio = 0.5
|
||||
ret.steerLimitTimer = 1.0
|
||||
ret.steerActuatorDelay = 0.
|
||||
|
||||
ret.mass = 9
|
||||
ret.wheelbase = 0.406
|
||||
ret.wheelSpeedFactor = SPEED_FROM_RPM
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
ret.radarUnavailable = True
|
||||
ret.openpilotLongitudinalControl = True
|
||||
@@ -41,6 +37,3 @@ class CarInterface(CarInterfaceBase):
|
||||
self.frame += 1
|
||||
|
||||
return ret
|
||||
|
||||
def apply(self, c, now_nanos):
|
||||
return self.CC.update(c, self.CS, now_nanos)
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarInfo
|
||||
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarDocs
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -20,9 +20,9 @@ class CarControllerParams:
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
BODY = PlatformConfig(
|
||||
"COMMA BODY",
|
||||
CarInfo("comma body", package="All"),
|
||||
COMMA_BODY = PlatformConfig(
|
||||
[CarDocs("comma body", package="All")],
|
||||
CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
|
||||
dbc_dict('comma_body', None),
|
||||
)
|
||||
|
||||
@@ -37,5 +37,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
],
|
||||
)
|
||||
|
||||
CAR_INFO = CAR.create_carinfo_map()
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
@@ -8,15 +8,15 @@ from collections.abc import Callable
|
||||
from cereal import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.selfdrive.car.values import PLATFORMS
|
||||
from openpilot.system.version import is_comma_remote, is_tested_branch
|
||||
from openpilot.selfdrive.car.interfaces import get_interface_attr
|
||||
from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
|
||||
from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
|
||||
from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
|
||||
from openpilot.selfdrive.car.mock.values import CAR as MOCK
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.selfdrive.car import gen_empty_fingerprint
|
||||
from openpilot.system.version import get_build_metadata
|
||||
import openpilot.selfdrive.sentry as sentry
|
||||
|
||||
FRAME_FINGERPRINT = 100 # 1s
|
||||
@@ -25,7 +25,8 @@ EventName = car.CarEvent.EventName
|
||||
|
||||
|
||||
def get_startup_event(car_recognized, controller_available, fw_seen):
|
||||
if is_comma_remote() and is_tested_branch():
|
||||
build_metadata = get_build_metadata()
|
||||
if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
|
||||
event = EventName.startup
|
||||
else:
|
||||
event = EventName.startupMaster
|
||||
@@ -52,17 +53,8 @@ def load_interfaces(brand_names):
|
||||
for brand_name in brand_names:
|
||||
path = f'openpilot.selfdrive.car.{brand_name}'
|
||||
CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
|
||||
|
||||
if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
|
||||
CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
|
||||
else:
|
||||
CarState = None
|
||||
|
||||
if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
|
||||
CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
|
||||
else:
|
||||
CarController = None
|
||||
|
||||
CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
|
||||
CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
|
||||
for model_name in brand_names[brand_name]:
|
||||
ret[model_name] = (CarInterface, CarController, CarState)
|
||||
return ret
|
||||
@@ -152,10 +144,10 @@ def fingerprint(logcan, sendcan, num_pandas):
|
||||
# VIN query only reliably works through OBDII
|
||||
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
|
||||
ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
|
||||
car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
|
||||
car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas)
|
||||
cached = False
|
||||
|
||||
exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
|
||||
exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
|
||||
else:
|
||||
vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
|
||||
exact_fw_match, fw_candidates, car_fw = True, set(), []
|
||||
@@ -206,9 +198,12 @@ def fingerprint(logcan, sendcan, num_pandas):
|
||||
fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
|
||||
fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
|
||||
|
||||
car_platform = PLATFORMS.get(car_fingerprint, car_fingerprint)
|
||||
return car_fingerprint, finger, vin, car_fw, source, exact_match
|
||||
|
||||
return car_platform, finger, vin, car_fw, source, exact_match
|
||||
|
||||
def get_car_interface(CP):
|
||||
CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
|
||||
return CarInterface(CP, CarController, CarState)
|
||||
|
||||
|
||||
def is_connected_to_internet(timeout=5):
|
||||
@@ -253,31 +248,31 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
|
||||
|
||||
if candidate is None:
|
||||
cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
|
||||
candidate = "mock"
|
||||
candidate = "MOCK"
|
||||
y = threading.Thread(target=crash_log2, args=(fingerprints, car_fw,))
|
||||
y.start()
|
||||
|
||||
if candidate != "mock":
|
||||
if candidate != "MOCK":
|
||||
x = threading.Thread(target=crash_log, args=(candidate,))
|
||||
x.start()
|
||||
|
||||
CarInterface, CarController, CarState = interfaces[candidate]
|
||||
CarInterface, _, _ = interfaces[candidate]
|
||||
CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
|
||||
CP.carVin = vin
|
||||
CP.carFw = car_fw
|
||||
CP.fingerprintSource = source
|
||||
CP.fuzzyFingerprint = not exact_match
|
||||
|
||||
return CarInterface(CP, CarController, CarState), CP
|
||||
return get_car_interface(CP), CP
|
||||
|
||||
def write_car_param(fingerprint="mock"):
|
||||
def write_car_param(platform=MOCK.MOCK):
|
||||
params = Params()
|
||||
CarInterface, _, _ = interfaces[fingerprint]
|
||||
CP = CarInterface.get_non_essential_params(fingerprint)
|
||||
CarInterface, _, _ = interfaces[platform]
|
||||
CP = CarInterface.get_non_essential_params(platform)
|
||||
params.put("CarParams", CP.to_bytes())
|
||||
|
||||
def get_demo_car_params():
|
||||
fingerprint="mock"
|
||||
CarInterface, _, _ = interfaces[fingerprint]
|
||||
CP = CarInterface.get_non_essential_params(fingerprint)
|
||||
platform = MOCK.MOCK
|
||||
CarInterface, _, _ = interfaces[platform]
|
||||
CP = CarInterface.get_non_essential_params(platform)
|
||||
return CP
|
||||
|
||||
Executable
+150
@@ -0,0 +1,150 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
|
||||
import cereal.messaging as messaging
|
||||
|
||||
from cereal import car
|
||||
|
||||
from panda import ALTERNATIVE_EXPERIENCE
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
|
||||
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
|
||||
|
||||
class CarD:
|
||||
CI: CarInterfaceBase
|
||||
CS: car.CarState
|
||||
|
||||
def __init__(self, CI=None):
|
||||
self.can_sock = messaging.sub_sock('can', timeout=20)
|
||||
self.sm = messaging.SubMaster(['pandaStates'])
|
||||
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
|
||||
|
||||
self.can_rcv_timeout_counter = 0 # consecutive timeout count
|
||||
self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count
|
||||
|
||||
self.CC_prev = car.CarControl.new_message()
|
||||
|
||||
self.last_actuators = None
|
||||
|
||||
self.params = Params()
|
||||
|
||||
if CI is None:
|
||||
# wait for one pandaState and one CAN packet
|
||||
print("Waiting for CAN messages...")
|
||||
get_one_can(self.can_sock)
|
||||
|
||||
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
|
||||
experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
|
||||
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
|
||||
else:
|
||||
self.CI, self.CP = CI, CI.CP
|
||||
|
||||
# set alternative experiences from parameters
|
||||
disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
|
||||
enable_mads = self.params.get_bool("EnableMads")
|
||||
mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
|
||||
mads_dlob = enable_mads and mads_disengage_lateral_on_brake
|
||||
mads_ndlob = enable_mads and not mads_disengage_lateral_on_brake
|
||||
self.CP.alternativeExperience = 0
|
||||
if not disengage_on_accelerator:
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
|
||||
if mads_dlob:
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
|
||||
elif mads_ndlob:
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE
|
||||
|
||||
if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
|
||||
self.CP.pcmCruiseSpeed = False
|
||||
|
||||
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
|
||||
|
||||
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
|
||||
|
||||
self.CP.passive = not controller_available or self.CP.dashcamOnly
|
||||
if self.CP.passive:
|
||||
safety_config = car.CarParams.SafetyConfig.new_message()
|
||||
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
|
||||
self.CP.safetyConfigs = [safety_config]
|
||||
|
||||
# Write previous route's CarParams
|
||||
prev_cp = self.params.get("CarParamsPersistent")
|
||||
if prev_cp is not None:
|
||||
self.params.put("CarParamsPrevRoute", prev_cp)
|
||||
|
||||
# Write CarParams for controls and radard
|
||||
cp_bytes = self.CP.to_bytes()
|
||||
self.params.put("CarParams", cp_bytes)
|
||||
self.params.put_nonblocking("CarParamsCache", cp_bytes)
|
||||
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
|
||||
|
||||
def initialize(self):
|
||||
"""Initialize CarInterface, once controls are ready"""
|
||||
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
|
||||
|
||||
def state_update(self):
|
||||
"""carState update loop, driven by can"""
|
||||
|
||||
# Update carState from CAN
|
||||
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
|
||||
self.CS = self.CI.update(self.CC_prev, can_strs)
|
||||
|
||||
self.sm.update(0)
|
||||
|
||||
can_rcv_valid = len(can_strs) > 0
|
||||
|
||||
# Check for CAN timeout
|
||||
if not can_rcv_valid:
|
||||
self.can_rcv_timeout_counter += 1
|
||||
self.can_rcv_cum_timeout_counter += 1
|
||||
else:
|
||||
self.can_rcv_timeout_counter = 0
|
||||
|
||||
self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
|
||||
|
||||
if can_rcv_valid and REPLAY:
|
||||
self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
|
||||
|
||||
self.state_publish()
|
||||
|
||||
return self.CS
|
||||
|
||||
def state_publish(self):
|
||||
"""carState and carParams publish loop"""
|
||||
|
||||
# carState
|
||||
cs_send = messaging.new_message('carState')
|
||||
cs_send.valid = self.CS.canValid
|
||||
cs_send.carState = self.CS
|
||||
self.pm.send('carState', cs_send)
|
||||
|
||||
# carParams - logged every 50 seconds (> 1 per segment)
|
||||
if (self.sm.frame % int(50. / DT_CTRL) == 0):
|
||||
cp_send = messaging.new_message('carParams')
|
||||
cp_send.valid = True
|
||||
cp_send.carParams = self.CP
|
||||
self.pm.send('carParams', cp_send)
|
||||
|
||||
# publish new carOutput
|
||||
co_send = messaging.new_message('carOutput')
|
||||
co_send.valid = True
|
||||
if self.last_actuators is not None:
|
||||
co_send.carOutput.actuatorsOutput = self.last_actuators
|
||||
self.pm.send('carOutput', co_send)
|
||||
|
||||
def controls_update(self, CC: car.CarControl):
|
||||
"""control update loop, driven by carControl"""
|
||||
|
||||
# send car controls over can
|
||||
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
|
||||
self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
|
||||
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
|
||||
|
||||
self.CC_prev = CC
|
||||
@@ -6,13 +6,13 @@ from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.selfdrive.car import apply_meas_steer_torque_limits
|
||||
from openpilot.selfdrive.car.chrysler import chryslercan
|
||||
from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerFlagsSP
|
||||
from openpilot.selfdrive.car.interfaces import FORWARD_GEARS
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN
|
||||
|
||||
BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"]
|
||||
|
||||
|
||||
class CarController:
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.CP = CP
|
||||
self.apply_steer_last = 0
|
||||
|
||||
@@ -21,6 +21,9 @@ class CarState(CarStateBase):
|
||||
else:
|
||||
self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
|
||||
|
||||
self.prev_distance_button = 0
|
||||
self.distance_button = 0
|
||||
|
||||
self.lkas_enabled = False
|
||||
self.prev_lkas_enabled = False
|
||||
self.lkas_heartbit = None
|
||||
@@ -33,6 +36,9 @@ class CarState(CarStateBase):
|
||||
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
self.prev_distance_button = self.distance_button
|
||||
self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
|
||||
|
||||
self.prev_mads_enabled = self.mads_enabled
|
||||
self.prev_lkas_enabled = self.lkas_enabled
|
||||
self.buttonStatesPrev = self.buttonStates.copy()
|
||||
|
||||
@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.PACIFICA_2017_HYBRID: {
|
||||
CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68239262AH',
|
||||
b'68239262AI',
|
||||
@@ -33,11 +33,12 @@ FW_VERSIONS = {
|
||||
b'05190226AK',
|
||||
],
|
||||
},
|
||||
CAR.PACIFICA_2018: {
|
||||
CAR.CHRYSLER_PACIFICA_2018: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68227902AF',
|
||||
b'68227902AG',
|
||||
b'68227902AH',
|
||||
b'68227905AG',
|
||||
b'68360252AC',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
@@ -71,6 +72,7 @@ FW_VERSIONS = {
|
||||
b'68340762AD ',
|
||||
b'68340764AD ',
|
||||
b'68352652AE ',
|
||||
b'68352654AE ',
|
||||
b'68366851AH ',
|
||||
b'68366853AE ',
|
||||
b'68372861AF ',
|
||||
@@ -79,6 +81,7 @@ FW_VERSIONS = {
|
||||
b'68277370AJ',
|
||||
b'68277370AM',
|
||||
b'68277372AD',
|
||||
b'68277372AE',
|
||||
b'68277372AN',
|
||||
b'68277374AA',
|
||||
b'68277374AB',
|
||||
@@ -88,14 +91,16 @@ FW_VERSIONS = {
|
||||
b'68380571AB',
|
||||
],
|
||||
},
|
||||
CAR.PACIFICA_2020: {
|
||||
CAR.CHRYSLER_PACIFICA_2020: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68405327AC',
|
||||
b'68436233AB',
|
||||
b'68436233AC',
|
||||
b'68436234AB',
|
||||
b'68436250AE',
|
||||
b'68529067AA',
|
||||
b'68594993AB',
|
||||
b'68594994AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68405565AB',
|
||||
@@ -119,15 +124,18 @@ FW_VERSIONS = {
|
||||
b'68540436AC',
|
||||
b'68540436AD',
|
||||
b'68598670AB',
|
||||
b'68598670AC',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68416742AA',
|
||||
b'68460393AA',
|
||||
b'68460393AB',
|
||||
b'68494461AB',
|
||||
b'68494461AC',
|
||||
b'68524936AA',
|
||||
b'68524936AB',
|
||||
b'68525338AB',
|
||||
b'68594337AB',
|
||||
b'68594340AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
@@ -139,10 +147,14 @@ FW_VERSIONS = {
|
||||
b'68443120AE ',
|
||||
b'68443123AC ',
|
||||
b'68443125AC ',
|
||||
b'68496647AJ ',
|
||||
b'68496650AH ',
|
||||
b'68496650AI ',
|
||||
b'68526752AD ',
|
||||
b'68526752AE ',
|
||||
b'68526754AE ',
|
||||
b'68536264AE ',
|
||||
b'68700304AB ',
|
||||
b'68700306AB ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
@@ -153,12 +165,14 @@ FW_VERSIONS = {
|
||||
b'68443155AC',
|
||||
b'68443158AB',
|
||||
b'68501050AD',
|
||||
b'68501055AD',
|
||||
b'68527221AB',
|
||||
b'68527223AB',
|
||||
b'68586231AD',
|
||||
b'68586233AD',
|
||||
],
|
||||
},
|
||||
CAR.PACIFICA_2018_HYBRID: {
|
||||
CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68358439AE',
|
||||
b'68358439AG',
|
||||
@@ -185,7 +199,7 @@ FW_VERSIONS = {
|
||||
b'05190226AM',
|
||||
],
|
||||
},
|
||||
CAR.PACIFICA_2019_HYBRID: {
|
||||
CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68405292AC',
|
||||
b'68434956AC',
|
||||
@@ -256,6 +270,7 @@ FW_VERSIONS = {
|
||||
b'68331511AC',
|
||||
b'68331574AC',
|
||||
b'68331687AC',
|
||||
b'68331690AC',
|
||||
b'68340272AD',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
@@ -304,6 +319,7 @@ FW_VERSIONS = {
|
||||
b'68402708AB',
|
||||
b'68402971AD',
|
||||
b'68454144AD',
|
||||
b'68454145AB',
|
||||
b'68454152AB',
|
||||
b'68454156AB',
|
||||
b'68516650AB',
|
||||
@@ -359,7 +375,7 @@ FW_VERSIONS = {
|
||||
b'68503664AC',
|
||||
],
|
||||
},
|
||||
CAR.RAM_1500: {
|
||||
CAR.RAM_1500_5TH_GEN: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68294051AG',
|
||||
b'68294051AI',
|
||||
@@ -376,10 +392,12 @@ FW_VERSIONS = {
|
||||
b'68434859AC',
|
||||
b'68434860AC',
|
||||
b'68453483AC',
|
||||
b'68453483AD',
|
||||
b'68453487AD',
|
||||
b'68453491AC',
|
||||
b'68453499AD',
|
||||
b'68453503AC',
|
||||
b'68453503AD',
|
||||
b'68453505AC',
|
||||
b'68453505AD',
|
||||
b'68453511AC',
|
||||
@@ -401,9 +419,12 @@ FW_VERSIONS = {
|
||||
b'68527383AD',
|
||||
b'68527387AE',
|
||||
b'68527403AC',
|
||||
b'68527403AD',
|
||||
b'68546047AF',
|
||||
b'68631938AA',
|
||||
b'68631940AA',
|
||||
b'68631942AA',
|
||||
b'68631943AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68428609AB',
|
||||
@@ -415,8 +436,10 @@ FW_VERSIONS = {
|
||||
b'68615034AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68292406AG',
|
||||
b'68292406AH',
|
||||
b'68432418AB',
|
||||
b'68432418AC',
|
||||
b'68432418AD',
|
||||
b'68436004AD',
|
||||
b'68436004AE',
|
||||
@@ -466,6 +489,7 @@ FW_VERSIONS = {
|
||||
b'68552790AA',
|
||||
b'68552791AB',
|
||||
b'68552794AA',
|
||||
b'68552794AD',
|
||||
b'68585106AB',
|
||||
b'68585107AB',
|
||||
b'68585108AB',
|
||||
@@ -474,9 +498,12 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035699AG ',
|
||||
b'05035841AC ',
|
||||
b'05035841AD ',
|
||||
b'05036026AB ',
|
||||
b'05036065AE ',
|
||||
b'05036066AE ',
|
||||
b'05036193AA ',
|
||||
b'05149368AA ',
|
||||
b'05149591AD ',
|
||||
b'05149591AE ',
|
||||
@@ -493,6 +520,8 @@ FW_VERSIONS = {
|
||||
b'68378701AI ',
|
||||
b'68378702AI ',
|
||||
b'68378710AL ',
|
||||
b'68378742AI ',
|
||||
b'68378742AK ',
|
||||
b'68378748AL ',
|
||||
b'68378758AM ',
|
||||
b'68448163AJ',
|
||||
@@ -506,27 +535,32 @@ FW_VERSIONS = {
|
||||
b'68455145AE ',
|
||||
b'68455146AC ',
|
||||
b'68467915AC ',
|
||||
b'68467916AC ',
|
||||
b'68467936AC ',
|
||||
b'68500630AD',
|
||||
b'68500630AE',
|
||||
b'68502719AC ',
|
||||
b'68502722AC ',
|
||||
b'68502733AC ',
|
||||
b'68502734AF ',
|
||||
b'68502740AF ',
|
||||
b'68502741AF ',
|
||||
b'68502742AC ',
|
||||
b'68502742AF ',
|
||||
b'68539650AD',
|
||||
b'68539650AF',
|
||||
b'68539651AD',
|
||||
b'68586101AA ',
|
||||
b'68586105AB ',
|
||||
b'68629922AC ',
|
||||
b'68629925AC ',
|
||||
b'68629926AC ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035706AD',
|
||||
b'05035842AB',
|
||||
b'05036069AA',
|
||||
b'05036181AA',
|
||||
b'05149536AC',
|
||||
b'05149537AC',
|
||||
b'05149543AC',
|
||||
@@ -536,6 +570,8 @@ FW_VERSIONS = {
|
||||
b'68360081AM',
|
||||
b'68360085AJ',
|
||||
b'68360085AL',
|
||||
b'68360086AH',
|
||||
b'68360086AK',
|
||||
b'68384328AD',
|
||||
b'68384332AD',
|
||||
b'68445531AC',
|
||||
@@ -556,7 +592,7 @@ FW_VERSIONS = {
|
||||
b'68629936AC',
|
||||
],
|
||||
},
|
||||
CAR.RAM_HD: {
|
||||
CAR.RAM_HD_5TH_GEN: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68361606AH',
|
||||
b'68437735AC',
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from openpilot.selfdrive.car import get_safety_config, create_mads_event
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
|
||||
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP, BUTTON_STATES
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
@@ -35,13 +35,14 @@ class CarInterface(CarInterfaceBase):
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
if candidate not in RAM_CARS:
|
||||
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
|
||||
new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
|
||||
new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
|
||||
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
|
||||
if new_eps_platform or new_eps_firmware:
|
||||
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
|
||||
|
||||
# Chrysler
|
||||
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
|
||||
if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
|
||||
CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
|
||||
ret.lateralTuning.init('pid')
|
||||
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
|
||||
@@ -57,7 +58,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
# Ram
|
||||
elif candidate == CAR.RAM_1500:
|
||||
elif candidate == CAR.RAM_1500_5TH_GEN:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.wheelbase = 3.88
|
||||
# Older EPS FW allow steer to zero
|
||||
@@ -67,7 +68,7 @@ class CarInterface(CarInterfaceBase):
|
||||
if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw):
|
||||
ret.minEnableSpeed = 0.
|
||||
|
||||
elif candidate == CAR.RAM_HD:
|
||||
elif candidate == CAR.RAM_HD_5TH_GEN:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
|
||||
ret.spFlags |= ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE.value
|
||||
@@ -91,9 +92,9 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
self.CS = self.sp_update_params(self.CS)
|
||||
self.sp_update_params()
|
||||
|
||||
buttonEvents = []
|
||||
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
|
||||
|
||||
for button in self.CS.buttonStates:
|
||||
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
|
||||
@@ -104,12 +105,12 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
|
||||
|
||||
self.CS.accEnabled, buttonEvents = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
|
||||
buttonEvents, c.vCruise,
|
||||
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else
|
||||
(ButtonType.accelCruise, ButtonType.decelCruise),
|
||||
resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else
|
||||
(ButtonType.accelCruise, ButtonType.resumeCruise))
|
||||
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
|
||||
buttonEvents, c.vCruise,
|
||||
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else
|
||||
(ButtonType.accelCruise, ButtonType.decelCruise),
|
||||
resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else
|
||||
(ButtonType.accelCruise, ButtonType.resumeCruise))
|
||||
|
||||
if ret.cruiseState.available:
|
||||
if self.enable_mads:
|
||||
@@ -182,6 +183,3 @@ class CarInterface(CarInterfaceBase):
|
||||
self.buttonStatesPrev = self.CS.buttonStates.copy()
|
||||
|
||||
return ret
|
||||
|
||||
def apply(self, c, now_nanos):
|
||||
return self.CC.update(c, self.CS, now_nanos)
|
||||
|
||||
@@ -4,13 +4,14 @@ from dataclasses import dataclass, field
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
|
||||
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
class ChryslerFlags(IntFlag):
|
||||
# Detected flags
|
||||
HIGHER_MIN_STEERING_SPEED = 1
|
||||
|
||||
|
||||
@@ -20,14 +21,14 @@ class ChryslerFlagsSP(IntFlag):
|
||||
|
||||
|
||||
@dataclass
|
||||
class ChryslerCarInfo(CarInfo):
|
||||
class ChryslerCarDocs(CarDocs):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
@dataclass
|
||||
class ChryslerPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None))
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'))
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
@@ -37,70 +38,60 @@ class ChryslerCarSpecs(CarSpecs):
|
||||
|
||||
class CAR(Platforms):
|
||||
# Chrysler
|
||||
PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
|
||||
"CHRYSLER PACIFICA HYBRID 2017",
|
||||
ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
|
||||
specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
|
||||
CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
|
||||
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
|
||||
)
|
||||
PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
|
||||
"CHRYSLER PACIFICA HYBRID 2018",
|
||||
ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
|
||||
specs=PACIFICA_2017_HYBRID.specs,
|
||||
CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
|
||||
"CHRYSLER PACIFICA HYBRID 2019",
|
||||
ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
|
||||
specs=PACIFICA_2017_HYBRID.specs,
|
||||
CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
PACIFICA_2018 = ChryslerPlatformConfig(
|
||||
"CHRYSLER PACIFICA 2018",
|
||||
ChryslerCarInfo("Chrysler Pacifica 2017-18"),
|
||||
specs=PACIFICA_2017_HYBRID.specs,
|
||||
CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica 2017-18")],
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
PACIFICA_2020 = ChryslerPlatformConfig(
|
||||
"CHRYSLER PACIFICA 2020",
|
||||
CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
|
||||
[
|
||||
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
|
||||
ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
|
||||
ChryslerCarDocs("Chrysler Pacifica 2019-20"),
|
||||
ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
|
||||
],
|
||||
specs=PACIFICA_2017_HYBRID.specs,
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
|
||||
# Dodge
|
||||
DODGE_DURANGO = ChryslerPlatformConfig(
|
||||
"DODGE DURANGO 2021",
|
||||
ChryslerCarInfo("Dodge Durango 2020-21"),
|
||||
specs=PACIFICA_2017_HYBRID.specs,
|
||||
[ChryslerCarDocs("Dodge Durango 2020-21")],
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
|
||||
# Jeep
|
||||
JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk
|
||||
"JEEP GRAND CHEROKEE V6 2018",
|
||||
ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
|
||||
specs=ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
|
||||
[ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
|
||||
ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
|
||||
)
|
||||
|
||||
JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk
|
||||
"JEEP GRAND CHEROKEE 2019",
|
||||
ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
|
||||
specs=JEEP_GRAND_CHEROKEE.specs,
|
||||
[ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
|
||||
JEEP_GRAND_CHEROKEE.specs,
|
||||
)
|
||||
|
||||
# Ram
|
||||
RAM_1500 = ChryslerPlatformConfig(
|
||||
"RAM 1500 5TH GEN",
|
||||
ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
|
||||
RAM_1500_5TH_GEN = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
|
||||
ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=0.5, minEnableSpeed=14.5),
|
||||
dbc_dict('chrysler_ram_dt_generated', None),
|
||||
specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=0.5, minEnableSpeed=14.5),
|
||||
)
|
||||
RAM_HD = ChryslerPlatformConfig(
|
||||
"RAM HD 5TH GEN",
|
||||
RAM_HD_5TH_GEN = ChryslerPlatformConfig(
|
||||
[
|
||||
ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
|
||||
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
|
||||
ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
|
||||
ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
|
||||
],
|
||||
ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
|
||||
dbc_dict('chrysler_ram_hd_generated', None),
|
||||
specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
|
||||
)
|
||||
|
||||
|
||||
@@ -132,8 +123,8 @@ BUTTON_STATES = {
|
||||
|
||||
STEER_THRESHOLD = 120
|
||||
|
||||
RAM_DT = {CAR.RAM_1500, }
|
||||
RAM_HD = {CAR.RAM_HD, }
|
||||
RAM_DT = {CAR.RAM_1500_5TH_GEN, }
|
||||
RAM_HD = {CAR.RAM_HD_5TH_GEN, }
|
||||
RAM_CARS = RAM_DT | RAM_HD
|
||||
|
||||
|
||||
@@ -176,5 +167,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
],
|
||||
)
|
||||
|
||||
CAR_INFO = CAR.create_carinfo_map()
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
+22
-23
@@ -9,8 +9,9 @@ from natsort import natsorted
|
||||
from cereal import car
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.selfdrive.car import gen_empty_fingerprint
|
||||
from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
|
||||
from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
|
||||
from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
|
||||
from openpilot.selfdrive.car.values import PLATFORMS
|
||||
|
||||
|
||||
def get_all_footnotes() -> dict[Enum, int]:
|
||||
@@ -24,45 +25,43 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
|
||||
CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
|
||||
|
||||
|
||||
def get_all_car_info() -> list[CarInfo]:
|
||||
all_car_info: list[CarInfo] = []
|
||||
def get_all_car_docs() -> list[CarDocs]:
|
||||
all_car_docs: list[CarDocs] = []
|
||||
footnotes = get_all_footnotes()
|
||||
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
|
||||
for model, platform in PLATFORMS.items():
|
||||
car_docs = platform.config.car_docs
|
||||
# If available, uses experimental longitudinal limits for the docs
|
||||
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(),
|
||||
CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
|
||||
car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
|
||||
|
||||
if CP.dashcamOnly or car_info is None:
|
||||
if CP.dashcamOnly or not len(car_docs):
|
||||
continue
|
||||
|
||||
# A platform can include multiple car models
|
||||
if not isinstance(car_info, list):
|
||||
car_info = (car_info,)
|
||||
|
||||
for _car_info in car_info:
|
||||
if not hasattr(_car_info, "row"):
|
||||
_car_info.init_make(CP)
|
||||
_car_info.init(CP, footnotes)
|
||||
all_car_info.append(_car_info)
|
||||
for _car_docs in car_docs:
|
||||
if not hasattr(_car_docs, "row"):
|
||||
_car_docs.init_make(CP)
|
||||
_car_docs.init(CP, footnotes)
|
||||
all_car_docs.append(_car_docs)
|
||||
|
||||
# Sort cars by make and model + year
|
||||
sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
|
||||
sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
|
||||
return sorted_cars
|
||||
|
||||
|
||||
def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]:
|
||||
sorted_car_info = defaultdict(list)
|
||||
for car_info in all_car_info:
|
||||
sorted_car_info[car_info.make].append(car_info)
|
||||
return dict(sorted_car_info)
|
||||
def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
|
||||
sorted_car_docs = defaultdict(list)
|
||||
for car_docs in all_car_docs:
|
||||
sorted_car_docs[car_docs.make].append(car_docs)
|
||||
return dict(sorted_car_docs)
|
||||
|
||||
|
||||
def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str:
|
||||
def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
|
||||
with open(template_fn) as f:
|
||||
template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
|
||||
|
||||
footnotes = [fn.value.text for fn in get_all_footnotes()]
|
||||
cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
|
||||
cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
|
||||
group_by_make=group_by_make, footnotes=footnotes,
|
||||
Column=Column)
|
||||
return cars_md
|
||||
@@ -77,5 +76,5 @@ if __name__ == "__main__":
|
||||
args = parser.parse_args()
|
||||
|
||||
with open(args.out, 'w') as f:
|
||||
f.write(generate_cars_md(get_all_car_info(), args.template))
|
||||
f.write(generate_cars_md(get_all_car_docs(), args.template))
|
||||
print(f"Generated and written to {args.out}")
|
||||
|
||||
@@ -118,7 +118,8 @@ class CarHarness(EnumBase):
|
||||
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")
|
||||
ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft, Cable.long_obdc_cable,
|
||||
Cable.usbc_coupler])
|
||||
|
||||
|
||||
class Device(EnumBase):
|
||||
@@ -219,7 +220,7 @@ def split_name(name: str) -> tuple[str, str, str]:
|
||||
|
||||
|
||||
@dataclass
|
||||
class CarInfo:
|
||||
class CarDocs:
|
||||
# make + model + model years
|
||||
name: str
|
||||
|
||||
@@ -265,7 +266,7 @@ class CarInfo:
|
||||
# min steer & enable speed columns
|
||||
# TODO: set all the min steer speeds in carParams and remove this
|
||||
if self.min_steer_speed is not None:
|
||||
assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
|
||||
assert CP.minSteerSpeed < 0.5, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
|
||||
else:
|
||||
self.min_steer_speed = CP.minSteerSpeed
|
||||
|
||||
@@ -316,7 +317,7 @@ class CarInfo:
|
||||
return self
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
"""CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
|
||||
"""CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
|
||||
|
||||
def get_detail_sentence(self, CP):
|
||||
if not CP.notCar:
|
||||
@@ -339,13 +340,13 @@ class CarInfo:
|
||||
|
||||
# experimental mode
|
||||
exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
|
||||
if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
|
||||
if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable:
|
||||
sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
|
||||
|
||||
return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
|
||||
|
||||
else:
|
||||
if CP.carFingerprint == "COMMA BODY":
|
||||
if CP.carFingerprint == "COMMA_BODY":
|
||||
return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
|
||||
else:
|
||||
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
|
||||
|
||||
@@ -1,4 +1,17 @@
|
||||
from openpilot.selfdrive.car.interfaces import get_interface_attr
|
||||
from openpilot.selfdrive.car.body.values import CAR as BODY
|
||||
from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
|
||||
from openpilot.selfdrive.car.ford.values import CAR as FORD
|
||||
from openpilot.selfdrive.car.gm.values import CAR as GM
|
||||
from openpilot.selfdrive.car.honda.values import CAR as HONDA
|
||||
from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
|
||||
from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
|
||||
from openpilot.selfdrive.car.mock.values import CAR as MOCK
|
||||
from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
|
||||
from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
|
||||
from openpilot.selfdrive.car.tesla.values import CAR as TESLA
|
||||
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
|
||||
from openpilot.selfdrive.car.volkswagen.values import CAR as VW
|
||||
|
||||
FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
|
||||
_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
|
||||
@@ -44,3 +57,291 @@ def all_known_cars():
|
||||
def all_legacy_fingerprint_cars():
|
||||
"""Returns a list of all known car strings, FPv1 only."""
|
||||
return list(_FINGERPRINTS.keys())
|
||||
|
||||
|
||||
# A dict that maps old platform strings to their latest representations
|
||||
MIGRATION = {
|
||||
"ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
|
||||
"ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
|
||||
"ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
|
||||
"AUDI A3": VW.AUDI_A3_MK3,
|
||||
"HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
|
||||
"HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
|
||||
"HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
|
||||
"HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
|
||||
"HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
|
||||
"HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
|
||||
"HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
|
||||
"HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
|
||||
"HONDA FIT 2018 EX": HONDA.HONDA_FIT,
|
||||
"HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
|
||||
"HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
|
||||
"HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
|
||||
"HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
|
||||
"HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
|
||||
"HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
|
||||
"HONDA PILOT 2019": HONDA.HONDA_PILOT,
|
||||
"HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
|
||||
"HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
|
||||
"HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
|
||||
"HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
|
||||
"HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
|
||||
"KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
|
||||
"KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
|
||||
"KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
|
||||
"LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
|
||||
"LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
|
||||
"LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
|
||||
"LEXUS IS300 2018": TOYOTA.LEXUS_IS,
|
||||
"LEXUS NX300 2018": TOYOTA.LEXUS_NX,
|
||||
"LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
|
||||
"LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
|
||||
"LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
|
||||
"LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
|
||||
"TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
|
||||
"TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
|
||||
"TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
|
||||
"TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
|
||||
"LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
|
||||
"LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
|
||||
"LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
|
||||
"LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
|
||||
"TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
|
||||
"TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
|
||||
"TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
|
||||
"TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
|
||||
"TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
|
||||
"TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
|
||||
"TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
|
||||
"TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
|
||||
"TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
|
||||
"TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
|
||||
"LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
|
||||
"LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
|
||||
"HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
|
||||
"KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
|
||||
"KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
|
||||
"CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
|
||||
|
||||
# Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
|
||||
"COMMA BODY": BODY.COMMA_BODY,
|
||||
"CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
|
||||
"CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
|
||||
"CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
|
||||
"CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
|
||||
"CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
|
||||
"DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
|
||||
"JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
|
||||
"JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
|
||||
"RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
|
||||
"RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
|
||||
"FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
|
||||
"FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
|
||||
"FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
|
||||
"FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
|
||||
"FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
|
||||
"FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
|
||||
"FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
|
||||
"FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
|
||||
"HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
|
||||
"CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
|
||||
"CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
|
||||
"CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
|
||||
"GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
|
||||
"BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
|
||||
"BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
|
||||
"CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
|
||||
"CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
|
||||
"CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
|
||||
"CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
|
||||
"CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
|
||||
"CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
|
||||
"CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
|
||||
"HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
|
||||
"HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
|
||||
"HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
|
||||
"HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
|
||||
"HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
|
||||
"HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
|
||||
"HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
|
||||
"ACURA RDX 2020": HONDA.ACURA_RDX_3G,
|
||||
"HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
|
||||
"HONDA E 2020": HONDA.HONDA_E,
|
||||
"ACURA ILX 2016": HONDA.ACURA_ILX,
|
||||
"HONDA CR-V 2016": HONDA.HONDA_CRV,
|
||||
"HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
|
||||
"HONDA FIT 2018": HONDA.HONDA_FIT,
|
||||
"HONDA FREED 2020": HONDA.HONDA_FREED,
|
||||
"HONDA HRV 2019": HONDA.HONDA_HRV,
|
||||
"HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
|
||||
"HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
|
||||
"ACURA RDX 2018": HONDA.ACURA_RDX,
|
||||
"HONDA PILOT 2017": HONDA.HONDA_PILOT,
|
||||
"HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
|
||||
"HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
|
||||
"HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
|
||||
"HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
|
||||
"HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
|
||||
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
|
||||
"HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
|
||||
"HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
|
||||
"HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
|
||||
"HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
|
||||
"HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
|
||||
"HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
|
||||
"HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
|
||||
"HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
|
||||
"HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
|
||||
"HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
|
||||
"HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
|
||||
"HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
|
||||
"HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
|
||||
"HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
|
||||
"HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
|
||||
"HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
|
||||
"HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
|
||||
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
|
||||
"HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
|
||||
"HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
|
||||
"HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
|
||||
"HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
|
||||
"HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
|
||||
"HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
|
||||
"HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
|
||||
"HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
|
||||
"HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
|
||||
"HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
|
||||
"HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
|
||||
"HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
|
||||
"KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
|
||||
"KIA K5 2021": HYUNDAI.KIA_K5_2021,
|
||||
"KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
|
||||
"KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
|
||||
"KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
|
||||
"KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
|
||||
"KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
|
||||
"KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
|
||||
"KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
|
||||
"KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
|
||||
"KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
|
||||
"KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
|
||||
"KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
|
||||
"KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
|
||||
"KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
|
||||
"KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
|
||||
"KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
|
||||
"KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
|
||||
"KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
|
||||
"KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
|
||||
"KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
|
||||
"KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
|
||||
"KIA EV6 2022": HYUNDAI.KIA_EV6,
|
||||
"KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
|
||||
"GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
|
||||
"GENESIS G70 2018": HYUNDAI.GENESIS_G70,
|
||||
"GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
|
||||
"GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
|
||||
"GENESIS G80 2017": HYUNDAI.GENESIS_G80,
|
||||
"GENESIS G90 2017": HYUNDAI.GENESIS_G90,
|
||||
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
|
||||
"MAZDA CX-5": MAZDA.MAZDA_CX5,
|
||||
"MAZDA CX-9": MAZDA.MAZDA_CX9,
|
||||
"MAZDA 3": MAZDA.MAZDA_3,
|
||||
"MAZDA 6": MAZDA.MAZDA_6,
|
||||
"MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
|
||||
"MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
|
||||
"NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
|
||||
"NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
|
||||
"NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
|
||||
"NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
|
||||
"NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
|
||||
"SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
|
||||
"SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
|
||||
"SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
|
||||
"SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
|
||||
"SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
|
||||
"SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
|
||||
"SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
|
||||
"SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
|
||||
"SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
|
||||
"SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
|
||||
"SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
|
||||
"SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
|
||||
"SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
|
||||
"SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
|
||||
"SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
|
||||
'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
|
||||
'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
|
||||
'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
|
||||
"TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
|
||||
"TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
|
||||
"TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
|
||||
"TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
|
||||
"TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
|
||||
"TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
|
||||
"TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
|
||||
"TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
|
||||
"TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
|
||||
"TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
|
||||
"TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
|
||||
"TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
|
||||
"TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
|
||||
"TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
|
||||
"TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
|
||||
"TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
|
||||
"TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
|
||||
"TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
|
||||
"TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
|
||||
"TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
|
||||
"TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
|
||||
"TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
|
||||
"LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
|
||||
"LEXUS ES 2018": TOYOTA.LEXUS_ES,
|
||||
"LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
|
||||
"LEXUS IS 2018": TOYOTA.LEXUS_IS,
|
||||
"LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
|
||||
"LEXUS NX 2018": TOYOTA.LEXUS_NX,
|
||||
"LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
|
||||
"LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
|
||||
"LEXUS RC 2020": TOYOTA.LEXUS_RC,
|
||||
"LEXUS RX 2016": TOYOTA.LEXUS_RX,
|
||||
"LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
|
||||
"LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
|
||||
"VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
|
||||
"VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
|
||||
"VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
|
||||
"VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
|
||||
"VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
|
||||
"VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
|
||||
"VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
|
||||
"VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
|
||||
"VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
|
||||
"VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
|
||||
"VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
|
||||
"VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
|
||||
"VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
|
||||
"VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
|
||||
"VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
|
||||
"VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
|
||||
"AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
|
||||
"AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
|
||||
"AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
|
||||
"SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
|
||||
"SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
|
||||
"SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
|
||||
"SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
|
||||
"SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
|
||||
"SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
|
||||
"SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
|
||||
"SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
|
||||
"SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
|
||||
"SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
|
||||
"SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
|
||||
|
||||
"mock": MOCK.MOCK,
|
||||
}
|
||||
|
||||
@@ -1,9 +1,10 @@
|
||||
from cereal import car
|
||||
from openpilot.common.numpy_fast import clip
|
||||
from opendbc.can.packer import CANPacker
|
||||
from openpilot.common.numpy_fast import clip
|
||||
from openpilot.selfdrive.car import apply_std_steer_angle_limits
|
||||
from openpilot.selfdrive.car.ford import fordcan
|
||||
from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
|
||||
from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
@@ -22,7 +23,7 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
|
||||
return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
|
||||
|
||||
|
||||
class CarController:
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.CP = CP
|
||||
self.VM = VM
|
||||
@@ -34,6 +35,7 @@ class CarController:
|
||||
self.main_on_last = False
|
||||
self.lkas_enabled_last = False
|
||||
self.steer_alert_last = False
|
||||
self.lead_distance_bars_last = None
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
can_sends = []
|
||||
@@ -69,10 +71,10 @@ class CarController:
|
||||
|
||||
self.apply_curvature_last = apply_curvature
|
||||
|
||||
if self.CP.carFingerprint in CANFD_CAR:
|
||||
if self.CP.flags & FordFlags.CANFD:
|
||||
# TODO: extended mode
|
||||
mode = 1 if CC.latActive else 0
|
||||
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
|
||||
counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
|
||||
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
|
||||
else:
|
||||
can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
|
||||
@@ -97,15 +99,19 @@ class CarController:
|
||||
# send lkas ui msg at 1Hz or if ui state changes
|
||||
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
|
||||
can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
|
||||
|
||||
# send acc ui msg at 5Hz or if ui state changes
|
||||
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
|
||||
send_ui = True
|
||||
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
|
||||
can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
|
||||
fcw_alert, CS.out.cruiseState.standstill, hud_control,
|
||||
CS.acc_tja_status_stock_values, CS.gac_tr_cluster))
|
||||
fcw_alert, CS.out.cruiseState.standstill, hud_control,
|
||||
CS.acc_tja_status_stock_values))
|
||||
|
||||
self.main_on_last = main_on
|
||||
self.lkas_enabled_last = CC.latActive
|
||||
self.steer_alert_last = steer_alert
|
||||
self.lead_distance_bars_last = hud_control.leadDistanceBars
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.curvature = self.apply_curvature_last
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
from cereal import car
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from openpilot.selfdrive.car.interfaces import CarStateBase
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car.ford.fordcan import CanBus
|
||||
from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC, BUTTON_STATES
|
||||
from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags, BUTTON_STATES
|
||||
from openpilot.selfdrive.car.interfaces import CarStateBase
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
@@ -19,6 +19,9 @@ class CarState(CarStateBase):
|
||||
|
||||
self.vehicle_sensors_valid = False
|
||||
|
||||
self.prev_distance_button = 0
|
||||
self.distance_button = 0
|
||||
|
||||
self.lkas_enabled = None
|
||||
self.prev_lkas_enabled = None
|
||||
self.buttonStates = BUTTON_STATES.copy()
|
||||
@@ -58,12 +61,13 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
|
||||
ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0 # 0 is default mode
|
||||
|
||||
if self.CP.carFingerprint in CANFD_CAR:
|
||||
if self.CP.flags & FordFlags.CANFD:
|
||||
# this signal is always 0 on non-CAN FD cars
|
||||
ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
|
||||
|
||||
# cruise state
|
||||
ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
|
||||
is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
|
||||
ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
|
||||
ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
|
||||
ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
|
||||
ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
|
||||
@@ -92,6 +96,8 @@ class CarState(CarStateBase):
|
||||
ret.rightBlinker = ret.rightBlinkerOn = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
|
||||
# TODO: block this going to the camera otherwise it will enable stock TJA
|
||||
ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
|
||||
self.prev_distance_button = self.distance_button
|
||||
self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
|
||||
|
||||
# lock info
|
||||
ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
|
||||
@@ -100,7 +106,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# blindspot sensors
|
||||
if self.CP.enableBsm:
|
||||
cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp
|
||||
cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp
|
||||
ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
|
||||
ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
|
||||
|
||||
@@ -140,10 +146,14 @@ class CarState(CarStateBase):
|
||||
("RCMStatusMessage2_FD1", 10),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
if CP.flags & FordFlags.CANFD:
|
||||
messages += [
|
||||
("Lane_Assist_Data3_FD1", 33),
|
||||
]
|
||||
else:
|
||||
messages += [
|
||||
("INSTRUMENT_PANEL", 1),
|
||||
]
|
||||
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
messages += [
|
||||
@@ -155,7 +165,7 @@ class CarState(CarStateBase):
|
||||
("BCM_Lamp_Stat_FD1", 1),
|
||||
]
|
||||
|
||||
if CP.enableBsm and CP.carFingerprint not in CANFD_CAR:
|
||||
if CP.enableBsm and not (CP.flags & FordFlags.CANFD):
|
||||
messages += [
|
||||
("Side_Detect_L_Stat", 5),
|
||||
("Side_Detect_R_Stat", 5),
|
||||
@@ -173,7 +183,7 @@ class CarState(CarStateBase):
|
||||
("IPMA_Data", 1),
|
||||
]
|
||||
|
||||
if CP.enableBsm and CP.carFingerprint in CANFD_CAR:
|
||||
if CP.enableBsm and CP.flags & FordFlags.CANFD:
|
||||
messages += [
|
||||
("Side_Detect_L_Stat", 5),
|
||||
("Side_Detect_R_Stat", 5),
|
||||
|
||||
@@ -4,23 +4,26 @@ from openpilot.selfdrive.car.ford.values import CAR
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.BRONCO_SPORT_MK1: {
|
||||
CAR.FORD_BRONCO_SPORT_MK1: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.ESCAPE_MK4: {
|
||||
CAR.FORD_ESCAPE_MK4: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -43,7 +46,7 @@ FW_VERSIONS = {
|
||||
b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.EXPLORER_MK6: {
|
||||
CAR.FORD_EXPLORER_MK6: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -58,6 +61,7 @@ FW_VERSIONS = {
|
||||
b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
@@ -71,7 +75,7 @@ FW_VERSIONS = {
|
||||
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.F_150_MK14: {
|
||||
CAR.FORD_F_150_MK14: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
@@ -82,10 +86,11 @@ FW_VERSIONS = {
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.F_150_LIGHTNING_MK1: {
|
||||
CAR.FORD_F_150_LIGHTNING_MK1: {
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
@@ -96,7 +101,7 @@ FW_VERSIONS = {
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.MUSTANG_MACH_E_MK1: {
|
||||
CAR.FORD_MUSTANG_MACH_E_MK1: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -111,7 +116,7 @@ FW_VERSIONS = {
|
||||
b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FOCUS_MK4: {
|
||||
CAR.FORD_FOCUS_MK4: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
@@ -125,14 +130,17 @@ FW_VERSIONS = {
|
||||
b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.MAVERICK_MK1: {
|
||||
CAR.FORD_MAVERICK_MK1: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -141,4 +149,18 @@ FW_VERSIONS = {
|
||||
b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_RANGER_MK2: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
@@ -144,7 +144,7 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
|
||||
|
||||
|
||||
def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
|
||||
hud_control, stock_values: dict, gac_tr_cluster):
|
||||
hud_control, stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
|
||||
assist status.
|
||||
@@ -212,7 +212,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
|
||||
"AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator
|
||||
"AccStopMde_B_Dsply": 1 if standstill else 0,
|
||||
"AccWarn_D_Dsply": 0, # ACC warning
|
||||
"AccTGap_D_Dsply": gac_tr_cluster, # Fixed time gap in UI
|
||||
"AccTGap_D_Dsply": hud_control.leadDistanceBars, # Time gap
|
||||
})
|
||||
|
||||
# Forwards FCW alert from IPMA
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car import get_safety_config, create_mads_event
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
|
||||
from openpilot.selfdrive.car.ford.fordcan import CanBus
|
||||
from openpilot.selfdrive.car.ford.values import CANFD_CAR, Ecu, BUTTON_STATES
|
||||
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, BUTTON_STATES
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
@@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
||||
ret.carName = "ford"
|
||||
ret.dashcamOnly = candidate in CANFD_CAR
|
||||
ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
|
||||
|
||||
ret.radarUnavailable = True
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
@@ -42,7 +42,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
|
||||
ret.openpilotLongitudinalControl = True
|
||||
|
||||
if candidate in CANFD_CAR:
|
||||
if ret.flags & FordFlags.CANFD:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
|
||||
|
||||
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
|
||||
@@ -66,9 +66,9 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
self.CS = self.sp_update_params(self.CS)
|
||||
self.sp_update_params()
|
||||
|
||||
buttonEvents = []
|
||||
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
|
||||
|
||||
for button in self.CS.buttonStates:
|
||||
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
|
||||
@@ -79,8 +79,8 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
|
||||
|
||||
self.CS.accEnabled, buttonEvents = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
|
||||
buttonEvents, c.vCruise)
|
||||
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
|
||||
buttonEvents, c.vCruise)
|
||||
|
||||
if ret.cruiseState.available:
|
||||
if self.enable_mads:
|
||||
@@ -89,7 +89,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if not self.CS.prev_lkas_enabled and self.CS.lkas_enabled:
|
||||
self.CS.madsEnabled = not self.CS.madsEnabled
|
||||
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
|
||||
ret, self.CS = self.toggle_gac(ret, self.CS, self.CS.buttonStates["gapAdjustCruise"], 1, 3, 4, "-")
|
||||
else:
|
||||
self.CS.madsEnabled = False
|
||||
|
||||
@@ -131,6 +130,3 @@ class CarInterface(CarInterfaceBase):
|
||||
self.buttonStatesPrev = self.CS.buttonStates.copy()
|
||||
|
||||
return ret
|
||||
|
||||
def apply(self, c, now_nanos):
|
||||
return self.CC.update(c, self.CS, now_nanos)
|
||||
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
#!/usr/bin/env python3
|
||||
from collections import defaultdict
|
||||
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car.ford.values import get_platform_codes
|
||||
from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
cars_for_code: defaultdict = defaultdict(lambda: defaultdict(set))
|
||||
|
||||
for car_model, ecus in FW_VERSIONS.items():
|
||||
print(car_model)
|
||||
for ecu in sorted(ecus, key=lambda x: int(x[0])):
|
||||
platform_codes = get_platform_codes(ecus[ecu])
|
||||
for code in platform_codes:
|
||||
cars_for_code[ecu][code].add(car_model)
|
||||
|
||||
print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
|
||||
print(f' Codes: {sorted(platform_codes)}')
|
||||
print()
|
||||
|
||||
print('\nCar models vs. platform codes:')
|
||||
for ecu, codes in cars_for_code.items():
|
||||
print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
|
||||
for code, cars in codes.items():
|
||||
print(f' {code!r}: {sorted(map(str, cars))}')
|
||||
@@ -1,12 +1,15 @@
|
||||
#!/usr/bin/env python3
|
||||
import random
|
||||
import unittest
|
||||
from parameterized import parameterized
|
||||
from collections.abc import Iterable
|
||||
|
||||
import capnp
|
||||
from hypothesis import settings, given, strategies as st
|
||||
from parameterized import parameterized
|
||||
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG
|
||||
from openpilot.selfdrive.car.fw_versions import build_fw_dict
|
||||
from openpilot.selfdrive.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
|
||||
from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -23,7 +26,7 @@ ECU_ADDRESSES = {
|
||||
}
|
||||
|
||||
|
||||
ECU_FW_CORE = {
|
||||
ECU_PART_NUMBER = {
|
||||
Ecu.eps: [
|
||||
b"14D003",
|
||||
],
|
||||
@@ -37,9 +40,6 @@ ECU_FW_CORE = {
|
||||
b"14F397", # Ford Q3
|
||||
b"14H102", # Ford Q4
|
||||
],
|
||||
Ecu.engine: [
|
||||
b"14C204",
|
||||
],
|
||||
}
|
||||
|
||||
|
||||
@@ -53,29 +53,96 @@ class TestFordFW(unittest.TestCase):
|
||||
@parameterized.expand(FW_VERSIONS.items())
|
||||
def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
|
||||
for (ecu, addr, subaddr), fws in fw_versions.items():
|
||||
self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU")
|
||||
self.assertIn(ecu, ECU_PART_NUMBER, "Unexpected ECU")
|
||||
self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
|
||||
self.assertIsNone(subaddr, "Unexpected ECU subaddress")
|
||||
|
||||
# Software part number takes the form: PREFIX-CORE-SUFFIX
|
||||
# Prefix changes based on the family of part. It includes the model year
|
||||
# and likely the platform.
|
||||
# Core identifies the type of the item (e.g. 14D003 = PSCM, 14C204 = PCM).
|
||||
# Suffix specifies the version of the part. -AA would be followed by -AB.
|
||||
# Small increments in the suffix are usually compatible.
|
||||
# Details: https://forscan.org/forum/viewtopic.php?p=70008#p70008
|
||||
for fw in fws:
|
||||
self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes")
|
||||
|
||||
# TODO: parse with regex, don't need detailed error message
|
||||
fw_parts = fw.rstrip(b'\x00').split(b'-')
|
||||
self.assertEqual(len(fw_parts), 3, "Expected FW to be in format: prefix-core-suffix")
|
||||
match = FW_PATTERN.match(fw)
|
||||
self.assertIsNotNone(match, f"Unable to parse FW: {fw!r}")
|
||||
if match:
|
||||
part_number = match.group("part_number")
|
||||
self.assertIn(part_number, ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}")
|
||||
|
||||
prefix, core, suffix = fw_parts
|
||||
self.assertEqual(len(prefix), 4, "Expected FW prefix to be 4 characters")
|
||||
self.assertIn(len(core), (5, 6), "Expected FW core to be 5-6 characters")
|
||||
self.assertIn(core, ECU_FW_CORE[ecu], f"Unexpected FW core for {ecu}")
|
||||
self.assertIn(len(suffix), (2, 3), "Expected FW suffix to be 2-3 characters")
|
||||
codes = get_platform_codes([fw])
|
||||
self.assertEqual(1, len(codes), f"Unable to parse FW: {fw!r}")
|
||||
|
||||
@settings(max_examples=100)
|
||||
@given(data=st.data())
|
||||
def test_platform_codes_fuzzy_fw(self, data):
|
||||
"""Ensure function doesn't raise an exception"""
|
||||
fw_strategy = st.lists(st.binary())
|
||||
fws = data.draw(fw_strategy)
|
||||
get_platform_codes(fws)
|
||||
|
||||
def test_platform_codes_spot_check(self):
|
||||
# Asserts basic platform code parsing behavior for a few cases
|
||||
results = get_platform_codes([
|
||||
b"JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
])
|
||||
self.assertEqual(results, {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")})
|
||||
|
||||
def test_fuzzy_match(self):
|
||||
for platform, fw_by_addr in FW_VERSIONS.items():
|
||||
# Ensure there's no overlaps in platform codes
|
||||
for _ in range(20):
|
||||
car_fw = []
|
||||
for ecu, fw_versions in fw_by_addr.items():
|
||||
ecu_name, addr, sub_addr = ecu
|
||||
fw = random.choice(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), CP.carVin, FW_VERSIONS)
|
||||
self.assertEqual(matches, {platform})
|
||||
|
||||
def test_match_fw_fuzzy(self):
|
||||
offline_fw = {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b"L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b"L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b"LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"LB5T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
],
|
||||
# We consider all model year hints for ECU, even with different platform codes
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b"LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"NC5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
],
|
||||
}
|
||||
expected_fingerprint = CAR.FORD_EXPLORER_MK6
|
||||
|
||||
# ensure that we fuzzy match on all non-exact FW with changed revisions
|
||||
live_fw = {
|
||||
(0x730, None): {b"L1MC-14D003-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
|
||||
(0x760, None): {b"L1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
|
||||
(0x764, None): {b"LB5T-14D049-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
|
||||
(0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
|
||||
}
|
||||
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
|
||||
self.assertEqual(candidates, {expected_fingerprint})
|
||||
|
||||
# model year hint in between the range should match
|
||||
live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
|
||||
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
|
||||
self.assertEqual(candidates, {expected_fingerprint})
|
||||
|
||||
# unseen model year hint should not match
|
||||
live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
|
||||
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
|
||||
self.assertEqual(len(candidates), 0, "Should not match new model year hint")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
+138
-64
@@ -1,12 +1,14 @@
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
import copy
|
||||
import re
|
||||
from dataclasses import dataclass, field, replace
|
||||
from enum import Enum, IntFlag
|
||||
|
||||
import panda.python.uds as uds
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
|
||||
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
|
||||
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
|
||||
Device
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
@@ -39,6 +41,11 @@ class CarControllerParams:
|
||||
pass
|
||||
|
||||
|
||||
class FordFlags(IntFlag):
|
||||
# Static flags
|
||||
CANFD = 1
|
||||
|
||||
|
||||
BUTTON_STATES = {
|
||||
"accelCruise": False,
|
||||
"decelCruise": False,
|
||||
@@ -63,94 +70,160 @@ class Footnote(Enum):
|
||||
|
||||
|
||||
@dataclass
|
||||
class FordCarInfo(CarInfo):
|
||||
class FordCarDocs(CarDocs):
|
||||
package: str = "Co-Pilot360 Assist+"
|
||||
hybrid: bool = False
|
||||
plug_in_hybrid: bool = False
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3
|
||||
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14):
|
||||
harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
|
||||
if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
|
||||
self.car_parts = CarParts([Device.threex_angled_mount, harness])
|
||||
else:
|
||||
self.car_parts = CarParts([Device.threex, harness])
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
@dataclass
|
||||
class FordPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
|
||||
|
||||
def init(self):
|
||||
for car_docs in list(self.car_docs):
|
||||
if car_docs.hybrid:
|
||||
name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
|
||||
self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
|
||||
if car_docs.plug_in_hybrid:
|
||||
name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
|
||||
self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
|
||||
|
||||
|
||||
@dataclass
|
||||
class FordCANFDPlatformConfig(FordPlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
|
||||
|
||||
def init(self):
|
||||
super().init()
|
||||
self.flags |= FordFlags.CANFD
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
BRONCO_SPORT_MK1 = FordPlatformConfig(
|
||||
"FORD BRONCO SPORT 1ST GEN",
|
||||
FordCarInfo("Ford Bronco Sport 2021-22"),
|
||||
specs=CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
|
||||
FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
|
||||
[FordCarDocs("Ford Bronco Sport 2021-23")],
|
||||
CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
|
||||
)
|
||||
ESCAPE_MK4 = FordPlatformConfig(
|
||||
"FORD ESCAPE 4TH GEN",
|
||||
FORD_ESCAPE_MK4 = FordPlatformConfig(
|
||||
[
|
||||
FordCarInfo("Ford Escape 2020-22"),
|
||||
FordCarInfo("Ford Escape Hybrid 2020-22"),
|
||||
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
|
||||
FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
|
||||
FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
|
||||
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
|
||||
FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
|
||||
FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
|
||||
],
|
||||
specs=CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
|
||||
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
|
||||
)
|
||||
EXPLORER_MK6 = FordPlatformConfig(
|
||||
"FORD EXPLORER 6TH GEN",
|
||||
FORD_EXPLORER_MK6 = FordPlatformConfig(
|
||||
[
|
||||
FordCarInfo("Ford Explorer 2020-23"),
|
||||
FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only
|
||||
FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
|
||||
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only
|
||||
FordCarDocs("Ford Explorer 2020-23", hybrid=True), # Hybrid: Limited and Platinum only
|
||||
FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only
|
||||
],
|
||||
specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
|
||||
CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
|
||||
)
|
||||
F_150_MK14 = FordPlatformConfig(
|
||||
"FORD F-150 14TH GEN",
|
||||
FORD_F_150_MK14 = FordCANFDPlatformConfig(
|
||||
[FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)],
|
||||
CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
|
||||
)
|
||||
FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
|
||||
[FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
|
||||
CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
|
||||
)
|
||||
FORD_FOCUS_MK4 = FordPlatformConfig(
|
||||
[FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only
|
||||
CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
|
||||
)
|
||||
FORD_MAVERICK_MK1 = FordPlatformConfig(
|
||||
[
|
||||
FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
|
||||
FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
|
||||
FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
|
||||
FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
|
||||
],
|
||||
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
|
||||
specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
|
||||
CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
|
||||
)
|
||||
F_150_LIGHTNING_MK1 = FordPlatformConfig(
|
||||
"FORD F-150 LIGHTNING 1ST GEN",
|
||||
FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
|
||||
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
|
||||
specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
|
||||
FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
|
||||
[FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
|
||||
CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
|
||||
)
|
||||
FOCUS_MK4 = FordPlatformConfig(
|
||||
"FORD FOCUS 4TH GEN",
|
||||
[
|
||||
FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
|
||||
FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only
|
||||
],
|
||||
specs=CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
|
||||
)
|
||||
MAVERICK_MK1 = FordPlatformConfig(
|
||||
"FORD MAVERICK 1ST GEN",
|
||||
[
|
||||
FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
|
||||
FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
|
||||
FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
|
||||
FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
|
||||
],
|
||||
specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
|
||||
)
|
||||
MUSTANG_MACH_E_MK1 = FordPlatformConfig(
|
||||
"FORD MUSTANG MACH-E 1ST GEN",
|
||||
FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
|
||||
dbc_dict=dbc_dict('ford_lincoln_base_pt', None),
|
||||
specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
|
||||
FORD_RANGER_MK2 = FordCANFDPlatformConfig(
|
||||
[FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering")],
|
||||
CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
|
||||
)
|
||||
|
||||
|
||||
CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
|
||||
# FW response contains a combined software and part number
|
||||
# A-Z except no I, O or W
|
||||
# e.g. NZ6A-14C204-AAA
|
||||
# 1222-333333-444
|
||||
# 1 = Model year hint (approximates model year/generation)
|
||||
# 2 = Platform hint
|
||||
# 3 = Part number
|
||||
# 4 = Software version
|
||||
FW_ALPHABET = b'A-HJ-NP-VX-Z'
|
||||
FW_PATTERN = re.compile(b'^(?P<model_year_hint>[' + FW_ALPHABET + b'])' +
|
||||
b'(?P<platform_hint>[0-9' + FW_ALPHABET + b']{3})-' +
|
||||
b'(?P<part_number>[0-9' + FW_ALPHABET + b']{5,6})-' +
|
||||
b'(?P<software_revision>[' + FW_ALPHABET + b']{2,})\x00*$')
|
||||
|
||||
|
||||
def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes]]:
|
||||
codes = set()
|
||||
for fw in fw_versions:
|
||||
match = FW_PATTERN.match(fw)
|
||||
if match is not None:
|
||||
codes.add((match.group('platform_hint'), match.group('model_year_hint')))
|
||||
|
||||
return codes
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw_versions: OfflineFwVersions) -> set[str]:
|
||||
candidates: set[str] = set()
|
||||
|
||||
for candidate, fws in offline_fw_versions.items():
|
||||
# Keep track of ECUs which pass all checks (platform hint, within model year hint 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 & model year hints
|
||||
codes = get_platform_codes(expected_versions)
|
||||
expected_platform_codes = {code for code, _ in codes}
|
||||
expected_model_year_hints = {model_year_hint for _, model_year_hint in codes}
|
||||
|
||||
# Found platform codes & model year hints
|
||||
codes = get_platform_codes(live_fw_versions.get(addr, set()))
|
||||
found_platform_codes = {code for code, _ in codes}
|
||||
found_model_year_hints = {model_year_hint for _, model_year_hint in codes}
|
||||
|
||||
# Check platform code matches for any found versions
|
||||
if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
|
||||
break
|
||||
|
||||
# Check any model year hint within range in the database. Note that some models have more than one
|
||||
# platform code per ECU which we don't consider as separate ranges
|
||||
if not any(min(expected_model_year_hints) <= found_model_year_hint <= max(expected_model_year_hints) for
|
||||
found_model_year_hint in found_model_year_hints):
|
||||
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
|
||||
|
||||
|
||||
# All of these ECUs must be present and are expected to have platform codes we can match
|
||||
PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
|
||||
|
||||
DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
|
||||
|
||||
ASBUILT_BLOCKS: list[tuple[int, list]] = [
|
||||
@@ -209,7 +282,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
(Ecu.shiftByWire, 0x732, None), # Gear Shift Module
|
||||
(Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module
|
||||
],
|
||||
# Custom fuzzy fingerprinting function using platform and model year hints
|
||||
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
|
||||
)
|
||||
|
||||
CAR_INFO = CAR.create_carinfo_map()
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
@@ -47,6 +47,11 @@ class StdQueries:
|
||||
MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
|
||||
SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
|
||||
|
||||
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
||||
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
@@ -92,9 +97,9 @@ class FwQueryConfig:
|
||||
non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict)
|
||||
# Ecus added for data collection, not to be fingerprinted on
|
||||
extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list)
|
||||
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
|
||||
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
|
||||
# returns set of candidates. Only will match if one candidate is returned
|
||||
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, OfflineFwVersions], set[str]] | None = None
|
||||
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
|
||||
|
||||
def __post_init__(self):
|
||||
for i in range(len(self.requests)):
|
||||
|
||||
@@ -1,19 +1,20 @@
|
||||
#!/usr/bin/env python3
|
||||
from collections import defaultdict
|
||||
from typing import Any, TypeVar
|
||||
from collections.abc import Iterator
|
||||
from typing import Any, Protocol, TypeVar
|
||||
|
||||
from tqdm import tqdm
|
||||
import capnp
|
||||
|
||||
import panda.python.uds as uds
|
||||
from cereal import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
|
||||
from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig
|
||||
from openpilot.selfdrive.car.interfaces import get_interface_attr
|
||||
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
|
||||
from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
|
||||
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
|
||||
from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
|
||||
from openpilot.selfdrive.car.interfaces import get_interface_attr
|
||||
from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
|
||||
@@ -38,8 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
|
||||
return filter_brand is None or brand == filter_brand
|
||||
|
||||
|
||||
def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
|
||||
filter_brand: str = None) -> dict[AddrType, set[bytes]]:
|
||||
def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
|
||||
fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
|
||||
for fw in fw_versions:
|
||||
if is_brand(fw.brand, filter_brand) and not fw.logging:
|
||||
@@ -48,7 +48,12 @@ def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
|
||||
return dict(fw_versions_dict)
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None):
|
||||
class MatchFwToCar(Protocol):
|
||||
def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]:
|
||||
...
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]:
|
||||
"""Do a fuzzy FW match. This function will return a match, and the number of firmware version
|
||||
that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
|
||||
the match is rejected."""
|
||||
@@ -73,7 +78,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
|
||||
all_fw_versions[(addr[1], addr[2], f)].append(candidate)
|
||||
|
||||
matched_ecus = set()
|
||||
candidate = None
|
||||
match: str | None = None
|
||||
for addr, versions in live_fw_versions.items():
|
||||
ecu_key = (addr[0], addr[1])
|
||||
for version in versions:
|
||||
@@ -82,23 +87,23 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
|
||||
|
||||
if len(candidates) == 1:
|
||||
matched_ecus.add(ecu_key)
|
||||
if candidate is None:
|
||||
candidate = candidates[0]
|
||||
if match is None:
|
||||
match = candidates[0]
|
||||
# We uniquely matched two different cars. No fuzzy match possible
|
||||
elif candidate != candidates[0]:
|
||||
elif match != candidates[0]:
|
||||
return set()
|
||||
|
||||
# Note that it is possible to match to a candidate without all its ECUs being present
|
||||
# if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
|
||||
if len(matched_ecus) >= 2:
|
||||
if match and len(matched_ecus) >= 2:
|
||||
if log:
|
||||
cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
|
||||
return {candidate}
|
||||
cloudlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
|
||||
return {match}
|
||||
else:
|
||||
return set()
|
||||
|
||||
|
||||
def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> set[str]:
|
||||
def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> set[str]:
|
||||
"""Do an exact FW match. Returns all cars that match the given
|
||||
FW versions for a list of "essential" ECUs. If an ECU is not considered
|
||||
essential the FW version can be missing to get a fingerprint, but if it's present it
|
||||
@@ -139,9 +144,10 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw
|
||||
return set(candidates.keys()) - invalid
|
||||
|
||||
|
||||
def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
|
||||
def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vin: str,
|
||||
allow_exact: bool = True, allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
|
||||
# Try exact matching first
|
||||
exact_matches = []
|
||||
exact_matches: list[tuple[bool, MatchFwToCar]] = []
|
||||
if allow_exact:
|
||||
exact_matches = [(True, match_fw_to_car_exact)]
|
||||
if allow_fuzzy:
|
||||
@@ -149,7 +155,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
|
||||
|
||||
for exact_match, match_func in exact_matches:
|
||||
# For each brand, attempt to fingerprint using all FW returned from its queries
|
||||
matches = set()
|
||||
matches: set[str] = set()
|
||||
for brand in VERSIONS.keys():
|
||||
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
|
||||
matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
|
||||
@@ -157,7 +163,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
|
||||
# If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
|
||||
config = FW_QUERY_CONFIGS[brand]
|
||||
if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
|
||||
matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand])
|
||||
matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, vin, VERSIONS[brand])
|
||||
|
||||
if len(matches):
|
||||
return exact_match, matches
|
||||
@@ -165,12 +171,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
|
||||
return True, set()
|
||||
|
||||
|
||||
def get_present_ecus(logcan, sendcan, num_pandas=1) -> set[EcuAddrBusType]:
|
||||
def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType]:
|
||||
params = Params()
|
||||
# queries are split by OBD multiplexing mode
|
||||
queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
|
||||
parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
|
||||
responses = set()
|
||||
responses: set[EcuAddrBusType] = set()
|
||||
|
||||
for brand, config, r in REQUESTS:
|
||||
# Skip query if no panda available
|
||||
@@ -231,8 +237,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
|
||||
cloudlog.warning("OBD multiplexing set successfully")
|
||||
|
||||
|
||||
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
|
||||
list[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
|
||||
debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
|
||||
|
||||
all_car_fw = []
|
||||
@@ -247,15 +253,15 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
|
||||
all_car_fw.extend(car_fw)
|
||||
|
||||
# If there is a match using this brand's FW alone, finish querying early
|
||||
_, matches = match_fw_to_car(car_fw, log=False)
|
||||
_, matches = match_fw_to_car(car_fw, vin, log=False)
|
||||
if len(matches) == 1:
|
||||
break
|
||||
|
||||
return all_car_fw
|
||||
|
||||
|
||||
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
|
||||
list[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1,
|
||||
debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
versions = VERSIONS.copy()
|
||||
params = Params()
|
||||
|
||||
@@ -367,6 +373,7 @@ if __name__ == "__main__":
|
||||
|
||||
t = time.time()
|
||||
print("Getting vin...")
|
||||
set_obd_multiplexing(params, True)
|
||||
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
|
||||
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
|
||||
print(f"Getting VIN took {time.time() - t:.3f} s")
|
||||
@@ -374,7 +381,7 @@ if __name__ == "__main__":
|
||||
|
||||
t = time.time()
|
||||
fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
|
||||
_, candidates = match_fw_to_car(fw_vers)
|
||||
_, candidates = match_fw_to_car(fw_vers, vin)
|
||||
|
||||
print()
|
||||
print("Found FW versions")
|
||||
@@ -382,7 +389,8 @@ if __name__ == "__main__":
|
||||
padding = max([len(fw.brand) for fw in fw_vers] or [0])
|
||||
for version in fw_vers:
|
||||
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
|
||||
print(f" Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
|
||||
print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
|
||||
f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
|
||||
print("}")
|
||||
|
||||
print()
|
||||
|
||||
@@ -6,6 +6,7 @@ from opendbc.can.packer import CANPacker
|
||||
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
|
||||
from openpilot.selfdrive.car.gm import gmcan
|
||||
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@@ -17,7 +18,7 @@ CAMERA_CANCEL_DELAY_FRAMES = 10
|
||||
MIN_STEER_MSG_INTERVAL_MS = 15
|
||||
|
||||
|
||||
class CarController:
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.CP = CP
|
||||
self.start_time = 0.
|
||||
@@ -117,7 +118,7 @@ class CarController:
|
||||
# Send dashboard UI commands (ACC status)
|
||||
send_fcw = hud_alert == VisualAlert.fcw
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled and CS.out.cruiseState.enabled,
|
||||
hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw, CS.gac_tr_cluster))
|
||||
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
|
||||
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (10hz)
|
||||
|
||||
@@ -26,6 +26,9 @@ class CarState(CarStateBase):
|
||||
self.cam_lka_steering_cmd_counter = 0
|
||||
self.buttons_counter = 0
|
||||
|
||||
self.prev_distance_button = 0
|
||||
self.distance_button = 0
|
||||
|
||||
self.lkas_enabled = False
|
||||
self.prev_lkas_enabled = False
|
||||
|
||||
@@ -33,9 +36,10 @@ class CarState(CarStateBase):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons
|
||||
self.prev_distance_button = self.distance_button
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
self.gap_dist_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
|
||||
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
|
||||
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
|
||||
|
||||
@@ -9,7 +9,7 @@ FINGERPRINTS = {
|
||||
CAR.HOLDEN_ASTRA: [{
|
||||
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
|
||||
}],
|
||||
CAR.VOLT: [{
|
||||
CAR.CHEVROLET_VOLT: [{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
{
|
||||
@@ -27,31 +27,31 @@ FINGERPRINTS = {
|
||||
CAR.CADILLAC_ATS: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.MALIBU: [{
|
||||
CAR.CHEVROLET_MALIBU: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.ACADIA: [{
|
||||
CAR.GMC_ACADIA: [{
|
||||
190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
|
||||
},
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.ESCALADE: [{
|
||||
CAR.CADILLAC_ESCALADE: [{
|
||||
170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.ESCALADE_ESV: [{
|
||||
CAR.CADILLAC_ESCALADE_ESV: [{
|
||||
309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
|
||||
}],
|
||||
CAR.ESCALADE_ESV_2019: [{
|
||||
CAR.CADILLAC_ESCALADE_ESV_2019: [{
|
||||
715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
|
||||
}],
|
||||
CAR.BOLT_EUV: [{
|
||||
CAR.CHEVROLET_BOLT_EUV: [{
|
||||
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
CAR.SILVERADO: [{
|
||||
CAR.CHEVROLET_SILVERADO: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
CAR.EQUINOX: [{
|
||||
CAR.CHEVROLET_EQUINOX: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
},
|
||||
{
|
||||
|
||||
@@ -76,7 +76,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
|
||||
mode = 0x1
|
||||
|
||||
# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
|
||||
if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
|
||||
if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
|
||||
mode = 0x9
|
||||
|
||||
if apply_brake > 0:
|
||||
@@ -102,17 +102,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
|
||||
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
|
||||
|
||||
|
||||
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw, gac_tr_cluster):
|
||||
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
|
||||
target_speed = min(target_speed_kph, 255)
|
||||
|
||||
values = {
|
||||
"ACCAlwaysOne": 1,
|
||||
"ACCResumeButton": 0,
|
||||
"ACCSpeedSetpoint": target_speed,
|
||||
"ACCGapLevel": gac_tr_cluster * enabled, # 3 "far", 0 "inactive"
|
||||
"ACCGapLevel": hud_control.leadDistanceBars * enabled, # 3 "far", 0 "inactive"
|
||||
"ACCCmdActive": enabled,
|
||||
"ACCAlwaysOne2": 1,
|
||||
"ACCLeadCar": lead_car_in_sight,
|
||||
"ACCLeadCar": hud_control.leadVisible,
|
||||
"FCWAlert": 0x3 if fcw else 0
|
||||
}
|
||||
|
||||
|
||||
@@ -22,9 +22,9 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
|
||||
|
||||
|
||||
NON_LINEAR_TORQUE_PARAMS = {
|
||||
CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
|
||||
CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
|
||||
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
|
||||
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
|
||||
}
|
||||
|
||||
NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
|
||||
@@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
|
||||
|
||||
def get_steer_feedforward_function(self):
|
||||
if self.CP.carFingerprint == CAR.VOLT:
|
||||
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
|
||||
return self.get_steer_feedforward_volt
|
||||
else:
|
||||
return CarInterfaceBase.get_steer_feedforward_default
|
||||
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return float(self.neural_ff_model.predict(inputs)) + friction
|
||||
|
||||
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
|
||||
if self.CP.carFingerprint == CAR.BOLT_EUV:
|
||||
if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
|
||||
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
|
||||
return self.torque_from_lateral_accel_neural
|
||||
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
|
||||
@@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
|
||||
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
||||
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
||||
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
||||
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \
|
||||
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
|
||||
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
|
||||
|
||||
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
|
||||
@@ -145,15 +145,12 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
|
||||
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
|
||||
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
|
||||
ret.tireStiffnessFactor = 0.444 # not optimized yet
|
||||
|
||||
ret.steerLimitTimer = 0.4
|
||||
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
|
||||
|
||||
if candidate == CAR.VOLT:
|
||||
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
|
||||
|
||||
if candidate == CAR.CHEVROLET_VOLT:
|
||||
ret.lateralTuning.pid.kpBP = [0., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 0.17]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
@@ -161,7 +158,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
|
||||
ret.steerActuatorDelay = 0.2
|
||||
|
||||
elif candidate == CAR.ACADIA:
|
||||
elif candidate == CAR.GMC_ACADIA:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
@@ -169,15 +166,14 @@ class CarInterface(CarInterfaceBase):
|
||||
elif candidate == CAR.BUICK_LACROSSE:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.ESCALADE:
|
||||
elif candidate == CAR.CADILLAC_ESCALADE:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
|
||||
elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
|
||||
if candidate == CAR.ESCALADE_ESV:
|
||||
if candidate == CAR.CADILLAC_ESCALADE_ESV:
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
@@ -185,13 +181,11 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BOLT_EUV:
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
elif candidate == CAR.CHEVROLET_BOLT_EUV:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.SILVERADO:
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
elif candidate == CAR.CHEVROLET_SILVERADO:
|
||||
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
|
||||
# with foot on brake to allow engagement, but this platform only has that check in the camera.
|
||||
# TODO: check if this is split by EV/ICE with more platforms in the future
|
||||
@@ -199,11 +193,10 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.minEnableSpeed = -1.
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.EQUINOX:
|
||||
elif candidate == CAR.CHEVROLET_EQUINOX:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.TRAILBLAZER:
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
elif candidate == CAR.CHEVROLET_TRAILBLAZER:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
@@ -212,22 +205,29 @@ class CarInterface(CarInterfaceBase):
|
||||
# returns a car.CarState
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
|
||||
self.CS = self.sp_update_params(self.CS)
|
||||
self.sp_update_params()
|
||||
|
||||
buttonEvents = []
|
||||
distance_button = 0
|
||||
|
||||
# Don't add event if transitioning from INIT, unless it's to an actual button
|
||||
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
|
||||
buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
|
||||
unpressed_btn=CruiseButtons.UNPRESS)
|
||||
buttonEvents = [
|
||||
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
|
||||
unpressed_btn=CruiseButtons.UNPRESS),
|
||||
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
|
||||
{1: ButtonType.gapAdjustCruise})
|
||||
]
|
||||
distance_button = self.CS.distance_button
|
||||
|
||||
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
|
||||
|
||||
if not self.CP.pcmCruise:
|
||||
if any(b.type == ButtonType.accelCruise and b.pressed for b in buttonEvents):
|
||||
self.CS.accEnabled = True
|
||||
|
||||
self.CS.accEnabled, buttonEvents = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
|
||||
buttonEvents, c.vCruise)
|
||||
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
|
||||
buttonEvents, c.vCruise)
|
||||
|
||||
if ret.cruiseState.available:
|
||||
if self.enable_mads:
|
||||
@@ -236,7 +236,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if self.CS.prev_lkas_enabled != 1 and self.CS.lkas_enabled == 1:
|
||||
self.CS.madsEnabled = not self.CS.madsEnabled
|
||||
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
|
||||
ret, self.CS = self.toggle_gac(ret, self.CS, bool(self.CS.gap_dist_button), 1, 3, 3, "-")
|
||||
else:
|
||||
self.CS.madsEnabled = False
|
||||
|
||||
@@ -252,7 +251,7 @@ class CarInterface(CarInterfaceBase):
|
||||
self.CS.accEnabled = False
|
||||
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
|
||||
|
||||
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.gap_dist_button))
|
||||
ret, self.CS = self.get_sp_common_state(ret, self.CS)
|
||||
|
||||
# MADS BUTTON
|
||||
if self.CS.out.madsEnabled != self.CS.madsEnabled:
|
||||
@@ -291,6 +290,3 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.events = events.to_msg()
|
||||
|
||||
return ret
|
||||
|
||||
def apply(self, c, now_nanos):
|
||||
return self.CC.update(c, self.CS, now_nanos)
|
||||
|
||||
@@ -3,7 +3,7 @@ from parameterized import parameterized
|
||||
import unittest
|
||||
|
||||
from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
|
||||
from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, GM_RX_OFFSET
|
||||
from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
|
||||
|
||||
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
|
||||
|
||||
@@ -13,12 +13,10 @@ class TestGMFingerprint(unittest.TestCase):
|
||||
def test_can_fingerprints(self, car_model, fingerprints):
|
||||
self.assertGreater(len(fingerprints), 0)
|
||||
|
||||
# Trailblazer is in dashcam
|
||||
if car_model != CAR.TRAILBLAZER:
|
||||
self.assertTrue(all(len(finger) for finger in fingerprints))
|
||||
self.assertTrue(all(len(finger) for finger in fingerprints))
|
||||
|
||||
# The camera can sometimes be communicating on startup
|
||||
if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
|
||||
if car_model in CAMERA_ACC_CAR:
|
||||
for finger in fingerprints:
|
||||
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
|
||||
self.assertEqual(finger.get(required_addr), 8, required_addr)
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user