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Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'upstream/master' into camera-scc-long

Browse Source 
# Conflicts:
#	docs/CARS.md
#	panda
#	selfdrive/car/hyundai/carcontroller.py
#	selfdrive/car/hyundai/interface.py
This commit is contained in:
Jason Wen
2023-03-26 20:39:23 -04:00
parent 711a1b8bed 083f008d94
commit b6d9a0dc01
610 changed files with 29139 additions and 11947 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/prebuilt.yaml
-1
View File
@@ -16,7 +16,6 @@ jobs:
build_prebuilt:
name: build prebuilt
runs-on: ubuntu-20.04
timeout-minutes: 60
if: github.repository == 'commaai/openpilot'
env:
IMAGE_NAME: openpilot-prebuilt
.github/workflows/release.yaml
-1
View File
@@ -8,7 +8,6 @@ jobs:
build_masterci:
name: build master-ci
runs-on: ubuntu-20.04
timeout-minutes: 60
if: github.repository == 'commaai/openpilot'
steps:
- name: Wait for green check mark
.github/workflows/selfdrive_tests.yaml
+13 -29
View File
@@ -7,7 +7,7 @@ on:
pull_request:
concurrency:
group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
cancel-in-progress: true
env:
@@ -32,7 +32,6 @@ jobs:
build_release:
name: build release
runs-on: ubuntu-20.04
timeout-minutes: 30
env:
STRIPPED_DIR: /tmp/releasepilot
steps:
@@ -61,12 +60,11 @@ jobs:
cp .pylintrc $STRIPPED_DIR
cp mypy.ini $STRIPPED_DIR
cd $STRIPPED_DIR
${{ env.RUN }} "SKIP=test_translations pre-commit run --all"
${{ env.RUN }} "pre-commit run --all"
build_all:
name: build all
runs-on: ubuntu-20.04
timeout-minutes: 30
steps:
- uses: actions/checkout@v3
with:
@@ -84,7 +82,6 @@ jobs:
#build_mac:
# name: build macos
# runs-on: macos-latest
# timeout-minutes: 60
# steps:
# - uses: actions/checkout@v3
# with:
@@ -105,7 +102,7 @@ jobs:
# /usr/local/Cellar
# ~/github_brew_cache_entries.txt
# /tmp/scons_cache
# key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
# key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
# restore-keys: macos-
# - name: Brew link restored dependencies
# run: |
@@ -121,11 +118,11 @@ jobs:
# - name: Build openpilot
# run: |
# source tools/openpilot_env.sh
# pipenv run selfdrive/manager/build.py
# poetry run selfdrive/manager/build.py
#
# # cleanup scons cache
# rm -rf /tmp/scons_cache/
# pipenv run scons -j$(nproc) --cache-populate
# poetry run scons -j$(nproc) --cache-populate
# - name: Remove pre-existing Homebrew packages for caching
# if: steps.dependency-cache.outputs.cache-hit != 'true'
# run: |
@@ -141,7 +138,6 @@ jobs:
docker_push:
name: docker push
runs-on: ubuntu-20.04
timeout-minutes: 22
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
steps:
@@ -150,14 +146,12 @@ jobs:
submodules: true
- name: Build Docker image
run: eval "$BUILD"
timeout-minutes: 13
- name: Push to container registry
run: |
$DOCKER_LOGIN
docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
- name: Build CL Docker image
run: eval "$BUILD_CL"
timeout-minutes: 4
- name: Push to container registry
run: |
$DOCKER_LOGIN
@@ -166,7 +160,6 @@ jobs:
static_analysis:
name: static analysis
runs-on: ubuntu-20.04
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
@@ -174,13 +167,11 @@ jobs:
- name: Build Docker image
run: eval "$BUILD"
- name: pre-commit
timeout-minutes: 5
run: ${{ env.RUN }} "pre-commit run --all"
valgrind:
name: valgrind
runs-on: ubuntu-20.04
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
@@ -198,7 +189,6 @@ jobs:
unit_tests:
name: unit tests
runs-on: ubuntu-20.04
timeout-minutes: 30
steps:
- uses: actions/checkout@v3
with:
@@ -207,7 +197,6 @@ jobs:
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Run unit tests
timeout-minutes: 15
run: |
${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
$UNIT_TEST common && \
@@ -215,10 +204,12 @@ jobs:
$UNIT_TEST selfdrive/boardd && \
$UNIT_TEST selfdrive/controls && \
$UNIT_TEST selfdrive/monitoring && \
$UNIT_TEST selfdrive/loggerd && \
$UNIT_TEST system/loggerd && \
$UNIT_TEST selfdrive/car && \
$UNIT_TEST selfdrive/locationd && \
$UNIT_TEST system/ubloxd && \
selfdrive/locationd/test/_test_locationd_lib.py && \
./system/ubloxd/tests/test_glonass_runner && \
$UNIT_TEST selfdrive/athena && \
$UNIT_TEST selfdrive/thermald && \
$UNIT_TEST system/hardware/tici && \
@@ -229,9 +220,10 @@ jobs:
./common/tests/test_util && \
./common/tests/test_swaglog && \
./selfdrive/boardd/tests/test_boardd_usbprotocol && \
./selfdrive/loggerd/tests/test_logger &&\
./system/loggerd/tests/test_logger &&\
./system/proclogd/tests/test_proclog && \
./tools/replay/tests/test_replay && \
./tools/cabana/tests/test_cabana && \
./system/camerad/test/ae_gray_test && \
coverage xml"
- name: "Upload coverage to Codecov"
@@ -240,7 +232,6 @@ jobs:
process_replay:
name: process replay
runs-on: ubuntu-20.04
timeout-minutes: 25
steps:
- uses: actions/checkout@v3
with:
@@ -260,6 +251,7 @@ jobs:
${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
coverage xml"
- name: Print diff
id: print-diff
if: always()
run: cat selfdrive/test/process_replay/diff.txt
- uses: actions/upload-artifact@v2
@@ -269,7 +261,7 @@ jobs:
name: process_replay_diff.txt
path: selfdrive/test/process_replay/diff.txt
- name: Upload reference logs
if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
if: ${{ failure() && steps.print-diff.outcome == 'success' && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
run: |
${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov"
@@ -278,7 +270,6 @@ jobs:
test_modeld:
name: model tests
runs-on: ubuntu-20.04
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
@@ -291,12 +282,10 @@ jobs:
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Run model replay with ONNX
timeout-minutes: 2
run: |
${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \
${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
coverage xml"
- name: Run unit tests
timeout-minutes: 5
run: |
${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
coverage xml"
@@ -306,7 +295,6 @@ jobs:
test_longitudinal:
name: longitudinal
runs-on: ubuntu-20.04
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
@@ -321,7 +309,6 @@ jobs:
cd selfdrive/test/longitudinal_maneuvers && \
coverage run ./test_longitudinal.py && \
coverage xml"
timeout-minutes: 2
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
- uses: actions/upload-artifact@v2
@@ -334,7 +321,6 @@ jobs:
test_cars:
name: cars
runs-on: ubuntu-20.04
timeout-minutes: 20
strategy:
fail-fast: false
matrix:
@@ -353,7 +339,6 @@ jobs:
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Test car models
timeout-minutes: 12
run: |
${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
coverage xml && \
@@ -367,7 +352,6 @@ jobs:
car_docs_diff:
name: PR comments
runs-on: ubuntu-20.04
timeout-minutes: 20
if: github.event_name == 'pull_request'
steps:
- uses: actions/checkout@v3
.github/workflows/tools_tests.yaml
+1 -5
View File
@@ -7,7 +7,7 @@ on:
pull_request:
concurrency:
group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
cancel-in-progress: true
env:
@@ -30,7 +30,6 @@ jobs:
plotjuggler:
name: plotjuggler
runs-on: ubuntu-20.04
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
@@ -38,7 +37,6 @@ jobs:
- name: Build Docker image
run: eval "$BUILD"
- name: Unit test
timeout-minutes: 2
run: |
${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
apt-get update && \
@@ -49,7 +47,6 @@ jobs:
simulator:
name: simulator
runs-on: ubuntu-20.04
timeout-minutes: 30
env:
IMAGE_NAME: openpilot-sim
if: github.repository == 'commaai/openpilot'
@@ -74,7 +71,6 @@ jobs:
docs:
name: build docs
runs-on: ubuntu-20.04
timeout-minutes: 25
steps:
- uses: actions/checkout@v3
with:
.gitignore
+3 -3
View File
@@ -46,12 +46,10 @@ selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
system/camerad/camerad
system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
selfdrive/modeld/_navmodeld
selfdrive/modeld/_dmonitoringmodeld
/src/
@@ -83,3 +81,5 @@ selfdrive/modeld/models/*.thneed
build/
!**/.gitkeep
poetry.toml
.gitmodules
+1 -1
View File
@@ -18,4 +18,4 @@
url = ../../commaai/body.git
[submodule "tinygrad"]
path = tinygrad_repo
url = ../../commaai/tinygrad.git
url = https://github.com/geohot/tinygrad.git
.pre-commit-config.yaml
+10 -6
View File
@@ -7,7 +7,7 @@ repos:
rev: v4.1.0
hooks:
- id: check-ast
exclude: '^(pyextra)/'
exclude: '^(third_party)/'
- id: check-json
- id: check-xml
- id: check-yaml
@@ -19,7 +19,7 @@ repos:
rev: v2.2.1
hooks:
- id: codespell
exclude: '^(pyextra/)|(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(include/)|(selfdrive/ui/translations/.*.ts)|(selfdrive/controls/lib/cluster)'
exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
args:
# if you've got a short variable name that's getting flagged, add it here
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup
@@ -31,12 +31,12 @@ repos:
entry: mypy
language: system
types: [python]
exclude: '^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/PyCQA/flake8
rev: 4.0.1
hooks:
- id: flake8
exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
additional_dependencies: ['flake8-no-implicit-concat']
args:
- --indent-size=2
@@ -51,7 +51,7 @@ repos:
entry: pylint
language: system
types: [python]
exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
args:
- -j0
- -rn
@@ -64,7 +64,7 @@ repos:
entry: cppcheck
language: system
types: [c++]
exclude: '^(third_party/)|(pyextra/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
args:
- --error-exitcode=1
- --language=c++
@@ -78,3 +78,7 @@ repos:
entry: selfdrive/ui/tests/test_translations.py
language: script
pass_filenames: false
- repo: https://github.com/python-poetry/poetry
rev: '1.2.2'
hooks:
- id: poetry-check
Dockerfile.openpilot
-1
View File
@@ -10,7 +10,6 @@ WORKDIR ${OPENPILOT_PATH}
COPY SConstruct ${OPENPILOT_PATH}
COPY ./pyextra ${OPENPILOT_PATH}/pyextra
COPY ./third_party ${OPENPILOT_PATH}/third_party
COPY ./site_scons ${OPENPILOT_PATH}/site_scons
COPY ./laika ${OPENPILOT_PATH}/laika
Dockerfile.openpilot_base
+3 -3
View File
@@ -12,19 +12,19 @@ ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
ENV PIPENV_SYSTEM=1
ENV POETRY_VIRTUALENVS_CREATE=false
ENV PYENV_VERSION=3.8.10
ENV PYENV_ROOT="/root/.pyenv"
ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/
COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/
COPY tools/ubuntu_setup.sh /tmp/tools/
RUN cd /tmp && \
tools/ubuntu_setup.sh && \
rm -rf /var/lib/apt/lists/* && \
rm -rf /tmp/* && \
rm -rf /root/.cache && \
pip uninstall -y pipenv && \
pip uninstall -y poetry && \
# remove unused architectures from gcc for panda
cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
rm -rf arm/ && \
Dockerfile.openpilot_base_cl
+1 -1
View File
@@ -17,7 +17,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends\
# Intel OpenCL driver
ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
RUN mkdir -p /tmp/opencl-driver-intel
WORKDIR /tmp/opencl-driver-intel
RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
Jenkinsfile
Vendored
+74 -19
View File
@@ -11,6 +11,9 @@ export SOURCE_DIR=${env.SOURCE_DIR}
export GIT_BRANCH=${env.GIT_BRANCH}
export GIT_COMMIT=${env.GIT_COMMIT}
export AZURE_TOKEN='${env.AZURE_TOKEN}'
export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
source ~/.bash_profile
if [ -f /TICI ]; then
@@ -47,20 +50,34 @@ pipeline {
TEST_DIR = "/data/openpilot"
SOURCE_DIR = "/data/openpilot_source/"
AZURE_TOKEN = credentials('azure_token')
MAPBOX_TOKEN = credentials('mapbox_token')
}
options {
timeout(time: 4, unit: 'HOURS')
timeout(time: 3, unit: 'HOURS')
disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
}
stages {
stage('build release3') {
stage('build release3-staging') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
when {
branch 'devel-staging'
}
steps {
phone_steps("tici", [
["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
phone_steps("tici-needs-can", [
["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
])
}
}
stage('build nightly') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
when {
branch 'master-ci'
}
steps {
phone_steps("tici-needs-can", [
["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
])
}
}
@@ -78,6 +95,7 @@ pipeline {
parallel {
/*
stage('simulator') {
agent {
dockerfile {
@@ -87,7 +105,8 @@ pipeline {
}
}
steps {
sh "git config --global --add safe.directory ${WORKSPACE}"
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --recursive"
sh "git lfs pull"
lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
sh "${WORKSPACE}/tools/sim/build_container.sh"
@@ -104,6 +123,7 @@ pipeline {
}
}
}
*/
stage('build') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
@@ -111,36 +131,45 @@ pipeline {
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
}
steps {
phone_steps("tici", [
phone_steps("tici-needs-can", [
["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["test manager", "python selfdrive/manager/test/test_manager.py"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
])
}
}
stage('loopback-tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-loopback", [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
])
}
}
stage('HW + Unit Tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici2", [
phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"],
["test power draw", "python system/hardware/tici/test_power_draw.py"],
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
["test sensord", "python selfdrive/sensord/tests/test_sensord.py"],
["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
["test pigeond", "python system/sensord/tests/test_pigeond.py"],
["test manager", "python selfdrive/manager/test/test_manager.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
])
}
}
stage('camerad') {
stage('camerad-ar') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-party", [
phone_steps("tici-ar0231", [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
@@ -148,17 +177,43 @@ pipeline {
}
}
stage('replay') {
stage('camerad-ox') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici3", [
phone_steps("tici-ox03c10", [
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
])
}
}
}
stage('sensord') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-lsmc", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
])
phone_steps("tici-bmx-lsm", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
])
}
}
stage('replay') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
])
}
}
}
}
}
}
Pipfile
-100
View File
@@ -1,100 +0,0 @@
[[source]]
name = "pypi"
url = "https://pypi.org/simple"
verify_ssl = true
[dev-packages]
av = "*"
azure-storage-blob = "~=2.1"
control = "*"
coverage = "*"
dictdiffer = "*"
fastcluster = "*"
hexdump = "*"
hypothesis = "==6.46.7"
inputs = "*"
lru-dict = "*"
markdown-it-py = "*"
matplotlib = "*"
mypy = "*"
myst-parser = "*"
natsort = "*"
numpy = "*"
opencv-python-headless = "*"
parameterized = "*"
paramiko = "*"
pprofile = "*"
pre-commit = "*"
pycurl = "*"
pygame = "*"
pyprof2calltree = "*"
pytest = "*"
pytest-xdist = "*"
reverse_geocoder = "*"
scipy = "*"
sphinx = "*"
sphinx-sitemap = "*"
sphinx-rtd-theme = "*"
breathe = "*"
subprocess32 = "*"
tenacity = "*"
mpld3 = "*"
carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
ft4222 = "*"
pandas = "*"
tabulate = "*"
types-pyyaml = "*"
lxml = "*"
types-atomicwrites = "*"
types-pycurl = "*"
types-requests = "*"
types-certifi = "*"
[packages]
atomicwrites = "*"
casadi = {version = "*", markers="platform_system != 'Darwin'"}
cffi = "*"
crcmod = "*"
cryptography = "*"
Cython = "*"
flake8 = "*"
Flask = "*"
future-fstrings = "*" # for acados
gunicorn = "*"
hexdump = "*"
Jinja2 = "*"
json-rpc = "*"
libusb1 = "*"
nose = "*"
numpy = "*"
protobuf = "==3.20.1"
onnx = "*"
onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
pillow = "*"
psutil = "*"
pycapnp = "==1.1.0"
pycryptodome = "*"
PyJWT = "*"
pylint = "*"
pyopencl = "*"
pyserial = "*"
python-dateutil = "*"
PyYAML = "*"
pyzmq = "*"
requests = "*"
scons = "*"
sentry-sdk = "*"
setproctitle = "*"
six = "*"
smbus2 = "*"
sympy = "!=1.6.1"
timezonefinder = "*"
tqdm = "*"
urllib3 = "*"
utm = "*"
websocket_client = "*"
hatanaka = "==2.4"
PySide2 = "*"
[requires]
python_version = "3.8"
Pipfile.lock
Generated
-3072
View File
File diff suppressed because it is too large Load Diff
README.md
+4 -7
View File
@@ -103,13 +103,15 @@ Directory Structure
├── opendbc # Files showing how to interpret data from cars
├── panda # Code used to communicate on CAN
├── third_party # External libraries
├── pyextra # Extra python packages
└── system # Generic services
├── camerad # Driver to capture images from the camera sensors
├── clocksd # Broadcasts current time
├── hardware # Hardware abstraction classes
├── logcatd # systemd journal as a service
└── proclogd # Logs information from /proc
├── loggerd # Logger and uploader of car data
├── proclogd # Logs information from /proc
├── sensord # IMU interface code
└── ubloxd # u-blox GNSS module interface code
└── selfdrive # Code needed to drive the car
├── assets # Fonts, images, and sounds for UI
├── athena # Allows communication with the app
@@ -118,12 +120,10 @@ Directory Structure
├── controls # Planning and controls
├── debug # Tools to help you debug and do car ports
├── locationd # Precise localization and vehicle parameter estimation
├── loggerd # Logger and uploader of car data
├── manager # Daemon that starts/stops all other daemons as needed
├── modeld # Driving and monitoring model runners
├── monitoring # Daemon to determine driver attention
├── navd # Turn-by-turn navigation
├── sensord # IMU interface code
├── test # Unit tests, system tests, and a car simulator
└── ui # The UI
@@ -143,7 +143,4 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
RELEASES.md
+53 -8
View File
@@ -1,17 +1,62 @@
Version 0.8.17 (2022-XX-XX)
Version 0.9.2 (2023-03-XX)
========================
* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
* Buick LaCrosse 2017-19 support thanks to koch-cf!
* Škoda Fabia 2022-23 support thanks to jyoung8607!
Version 0.9.1 (2023-02-28)
========================
* New driving model
* Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate.
* Self-tuning torque lateral controller parameters
* Parameters learned live for each car
* Enabled only on Toyota Corolla for now
* 30% improved height estimation resulting in better driving performance for tall cars
* Driver monitoring: removed timer resetting on user interaction if distracted
* UI updates
* Adjust alert volume using ambient noise level
* Driver monitoring icon shows driver's head pose
* German translation thanks to Vrabetz and CzokNorris!
* Cadillac Escalade 2017 support thanks to rickygilleland!
* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
* Genesis GV60 2023 support thanks to sunnyhaibin!
* Hyundai Tucson 2022-23 support
* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
* Kia Sorento 2022-23 support thanks to sunnyhaibin!
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Toyota C-HR 2021 support thanks to eFiniLan!
* Toyota C-HR Hybrid 2022 support thanks to Korben00!
* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
Version 0.9.0 (2022-11-21)
========================
* New driving model
* Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
* Less reliance on previous frames makes model more reactive and snappy
* Trained in new reprojective simulator
* Trained in 36 hours from scratch, compared to one week for previous releases
* Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
* Experimental driving mode
* End-to-end longitudinal control
* Stops for traffic lights and stop signs
* Slows down for turns
* openpilot defaults to chill mode, enable experimental mode in settings
* Driver monitoring updates
* New bigger model with added end-to-end distracted trigger
* Reduced false positives during driver calibration
* Self-tuning torque controller: learns parameters live for each car
* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
* UI updates
* Multi-language in navigation
* Matched speeds shown on car's dash
* Multi-language in navigation
* Improved update experience
* Border turns grey while overriding steering
* Added button to bookmark events while driving; view them later in comma connect
* AGNOS 6
* Bookmark events while driving; view them in comma connect
* New onroad visualization for experimental mode
* tools: new and improved cabana thanks to deanlee!
* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
* Kia Sportage 2023 support thanks to sunnyhaibin!
* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
* Kia Stinger 2022 support thanks to sunnyhaibin!
Version 0.8.16 (2022-08-26)
========================
SConstruct
+17 -20
View File
@@ -71,10 +71,10 @@ if arch == "aarch64" and AGNOS:
lenv = {
"PATH": os.environ['PATH'],
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
"PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
"PYTHONPATH": Dir("#").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
}
@@ -197,10 +197,6 @@ env = Environment(
"#third_party/libyuv/include",
"#third_party/json11",
"#third_party/curl/include",
"#third_party/libgralloc/include",
"#third_party/android_frameworks_native/include",
"#third_party/android_hardware_libhardware/include",
"#third_party/android_system_core/include",
"#third_party/linux/include",
"#third_party/snpe/include",
"#third_party/mapbox-gl-native-qt/include",
@@ -282,7 +278,7 @@ Export('envCython')
# Qt build environment
qt_env = env.Clone()
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
qt_libs = []
if arch == "Darwin":
@@ -298,16 +294,20 @@ if arch == "Darwin":
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
else:
qt_env['QTDIR'] = "/usr"
qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
qt_env['QTDIR'] = qt_install_prefix
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
f"{qt_install_headers}",
f"{qt_install_headers}/QtGui/5.12.8/QtGui",
]
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
qt_libs = [f"Qt5{m}" for m in qt_modules]
if arch == "larch64":
qt_libs += ["GLESv2", "wayland-client"]
qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
elif arch != "Darwin":
qt_libs += ["GL"]
@@ -384,10 +384,10 @@ rednose_config = {
if arch != "larch64":
rednose_config['to_build'].update({
'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps),
'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
})
Export('rednose_config')
@@ -398,6 +398,7 @@ SConscript([
'system/camerad/SConscript',
'system/clocksd/SConscript',
'system/proclogd/SConscript',
'system/ubloxd/SConscript',
])
if arch != "Darwin":
SConscript(['system/logcatd/SConscript'])
@@ -406,10 +407,10 @@ if arch != "Darwin":
# build submodules
SConscript([
'cereal/SConscript',
'body/board/SConscript',
'panda/board/SConscript',
'cereal/SConscript',
'opendbc/can/SConscript',
'panda/SConscript',
])
SConscript(['third_party/SConscript'])
@@ -419,16 +420,15 @@ SConscript(['common/transformations/SConscript'])
SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['system/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['system/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/navd/SConscript'])
@@ -439,9 +439,6 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
Export('opendbc')
SConscript(['tools/cabana/SConscript'])
if GetOption('test'):
SConscript('panda/tests/safety/SConscript')
external_sconscript = GetOption('external_sconscript')
if external_sconscript:
SConscript([external_sconscript])
body
+1 -1
Submodule body updated: 04aeb30ce0...e1805f65ee
cereal
+1 -1
Submodule cereal updated: 1e3dd70a39...c516d5e985
common/SConscript
+3 -1
View File
@@ -10,11 +10,13 @@ common_libs = [
'statlog.cc',
'swaglog.cc',
'util.cc',
'gpio.cc',
'i2c.cc',
'watchdog.cc',
]
if arch != "Darwin":
common_libs.append('gpio.cc')
_common = fxn('common', common_libs, LIBS="json11")
files = [
common/clutil.cc
+13 -11
View File
@@ -5,6 +5,7 @@
#include <memory>
#include "common/util.h"
#include "common/swaglog.h"
namespace { // helper functions
@@ -31,14 +32,14 @@ void cl_print_info(cl_platform_id platform, cl_device_id device) {
case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
}
std::cout << "vendor: " << get_platform_info(platform, CL_PLATFORM_VENDOR) << std::endl
<< "platform version: " << get_platform_info(platform, CL_PLATFORM_VERSION) << std::endl
<< "profile: " << get_platform_info(platform, CL_PLATFORM_PROFILE) << std::endl
<< "extensions: " << get_platform_info(platform, CL_PLATFORM_EXTENSIONS) << std::endl
<< "name :" << get_device_info(device, CL_DEVICE_NAME) << std::endl
<< "device version :" << get_device_info(device, CL_DEVICE_VERSION) << std::endl
<< "max work group size :" << work_group_size << std::endl
<< "type = " << device_type << " = " << type_str << std::endl;
LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
LOGD("max work group size: %d", work_group_size);
LOGD("type = %d = ", device_type, type_str);
}
void cl_print_build_errors(cl_program program, cl_device_id device) {
@@ -49,7 +50,7 @@ void cl_print_build_errors(cl_program program, cl_device_id device) {
std::string log(log_size, '\0');
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
std::cout << "build failed; status=" << status << ", log:" << std::endl << log << std::endl;
LOGE("build failed; status=%d, log: %s", status, log.c_str());
}
} // namespace
@@ -61,14 +62,15 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
for (size_t i = 0; i < num_platforms; ++i) {
std::cout << "platform[" << i << "] CL_PLATFORM_NAME: " << get_platform_info(platform_ids[i], CL_PLATFORM_NAME) << std::endl;
LOGD("platform[%d] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
// Get first device
if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
cl_print_info(platform_ids[i], device_id);
return device_id;
}
}
std::cout << "No valid openCL platform found" << std::endl;
LOGE("No valid openCL platform found");
assert(0);
return nullptr;
}
common/gpio.cc
+17
View File
@@ -1,5 +1,20 @@
#include "common/gpio.h"
#ifdef __APPLE__
int gpio_init(int pin_nr, bool output) {
return 0;
}
int gpio_set(int pin_nr, bool high) {
return 0;
}
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
return 0;
}
#else
#include <fcntl.h>
#include <unistd.h>
@@ -63,3 +78,5 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
close(fd);
return rq.fd;
}
#endif
common/params.cc
+11 -5
View File
@@ -98,18 +98,20 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentBootlog", PERSISTENT},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DashcamOverride", PERSISTENT},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT},
{"EndToEndLong", PERSISTENT},
{"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
{"ExperimentalMode", PERSISTENT},
{"ExperimentalModeConfirmed", PERSISTENT},
{"ExperimentalLongitudinalEnabled", PERSISTENT},
{"DisableUpdates", PERSISTENT},
{"DisengageOnAccelerator", PERSISTENT},
{"DongleId", PERSISTENT},
{"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ForcePowerDown", CLEAR_ON_MANAGER_START},
{"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT},
@@ -133,9 +135,10 @@ std::unordered_map<std::string, uint32_t> keys = {
{"IsRhdDetected", PERSISTENT},
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"LaikadEphemeris", PERSISTENT | DONT_LOG},
{"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
{"LanguageSetting", PERSISTENT},
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
{"LastGPSPosition", PERSISTENT},
@@ -148,9 +151,12 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LiveTorqueCarParams", PERSISTENT},
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"NavSettingTime24h", PERSISTENT},
{"NavSettingLeftSide", PERSISTENT},
{"NavdRender", PERSISTENT},
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"PandaSignatures", CLEAR_ON_MANAGER_START},
@@ -167,7 +173,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"Timezone", PERSISTENT},
{"TrainingVersion", PERSISTENT},
{"UbloxAvailable", PERSISTENT},
{"UpdateAvailable", CLEAR_ON_MANAGER_START},
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
{"UpdaterState", CLEAR_ON_MANAGER_START},
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
common/prefix.h
+34
View File
@@ -0,0 +1,34 @@
#pragma once
#include <cassert>
#include <string>
#include "common/params.h"
#include "common/util.h"
class OpenpilotPrefix {
public:
OpenpilotPrefix(std::string prefix = {}) {
if (prefix.empty()) {
prefix = util::random_string(15);
}
msgq_path = "/dev/shm/" + prefix;
bool ret = util::create_directories(msgq_path, 0777);
assert(ret);
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
}
~OpenpilotPrefix() {
auto param_path = Params().getParamPath();
if (util::file_exists(param_path)) {
std::string real_path = util::readlink(param_path);
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
unlink(param_path.c_str());
}
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
unsetenv("OPENPILOT_PREFIX");
}
private:
std::string msgq_path;
};
common/util.cc
+22
View File
@@ -1,5 +1,6 @@
#include "common/util.h"
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <dirent.h>
@@ -9,6 +10,7 @@
#include <dirent.h>
#include <fstream>
#include <iomanip>
#include <random>
#include <sstream>
#ifdef __linux__
@@ -149,6 +151,14 @@ int safe_fflush(FILE *stream) {
return ret;
}
int safe_ioctl(int fd, unsigned long request, void *argp) {
int ret;
do {
ret = ioctl(fd, request, argp);
} while ((ret == -1) && (errno == EINTR));
return ret;
}
std::string readlink(const std::string &path) {
char buff[4096];
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
@@ -219,6 +229,18 @@ std::string hexdump(const uint8_t* in, const size_t size) {
return ss.str();
}
std::string random_string(std::string::size_type length) {
const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
std::mt19937 rg{std::random_device{}()};
std::uniform_int_distribution<std::string::size_type> pick(0, sizeof(chrs) - 2);
std::string s;
s.reserve(length);
while (length--) {
s += chrs[pick(rg)];
}
return s;
}
std::string dir_name(std::string const &path) {
size_t pos = path.find_last_of("/");
if (pos == std::string::npos) return "";
common/util.h
+2
View File
@@ -75,6 +75,7 @@ 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 random_string(std::string::size_type length);
std::string dir_name(std::string const& path);
// **** file fhelpers *****
@@ -86,6 +87,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
FILE* safe_fopen(const char* filename, const char* mode);
size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
int safe_fflush(FILE *stream);
int safe_ioctl(int fd, unsigned long request, void *argp);
std::string readlink(const std::string& path);
bool file_exists(const std::string& fn);
common/version.h
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#define COMMA_VERSION "0.8.17"
#define COMMA_VERSION "0.9.2"
docs/CARS.md
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A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 208 Supported Cars
# 239 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Niro EV 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|NX Hybrid 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2016|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla 2017-19|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius Prime 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2017-18|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Sienna 2018-20|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas 2018-23[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec</a>||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A</a>||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533</a>||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533</a>||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II</a>||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A</a>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-22">Honda Nidec</a>||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E</a>||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C</a>||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H</a>||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-21">Hyundai H</a>||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N</a>||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E</a>||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L</a>||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022">Hyundai P</a>||
|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022">Hyundai L</a>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G</a>||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K</a>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota</a>||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota</a>||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A</a>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A</a>||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B</a>||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533</a>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota</a>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota</a>||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota</a>||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota</a>||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota</a>||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota</a>||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota</a>||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota</a>||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota</a>||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota</a>||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota</a>||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533</a>||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533</a>||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533</a>||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533</a>||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533</a>||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
<a id="footnotes"></a>
<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>4</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>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
## 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/).
docs/INTEGRATION.md
+1 -1
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@@ -8,4 +8,4 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
* Stock ACC is replaced by openpilot ACC.
* openpilot FCW operates in addition to stock FCW.
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
docs/Makefile
+1 -1
View File
@@ -41,7 +41,7 @@ clean:
@echo "Building rst files..."
sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
../xx ../laika_repo ../rednose_repo ../pyextra ../notebooks ../panda_jungle \
../xx ../laika_repo ../rednose_repo ../notebooks ../panda_jungle \
../third_party \
../panda/examples \
../scripts \
docs/assets/icon-youtube.svg
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@@ -0,0 +1,12 @@
<?xml version="1.0" encoding="utf-8"?>
<svg viewBox="500.972 178.81 20 14.375" width="20" height="14.375" xmlns="http://www.w3.org/2000/svg" xmlns:bx="https://boxy-svg.com">
<defs>
<clipPath id="clip0_1674_1768">
<rect width="20" height="20" fill="white"/>
</clipPath>
</defs>
<g clip-path="url(#clip0_1674_1768)" transform="matrix(1, 0, 0, 1, 500.971771, 175.81041)">
<path fill-rule="evenodd" clip-rule="evenodd" d="M19.582 5.2447C19.352 4.3611 18.6743 3.66531 17.8138 3.42916C16.2542 3 10 3 10 3C10 3 3.7458 3 2.18614 3.42916C1.32557 3.66531 0.647841 4.3611 0.417841 5.2447C0 6.84612 0 10.1875 0 10.1875C0 10.1875 0 13.5288 0.417841 15.1303C0.647841 16.0139 1.32557 16.7097 2.18614 16.946C3.7458 17.375 10 17.375 10 17.375C10 17.375 16.2542 17.375 17.8138 16.946C18.6743 16.7097 19.352 16.0139 19.582 15.1303C20 13.5288 20 10.1875 20 10.1875C20 10.1875 20 6.84612 19.582 5.2447ZM8.12509 13.6255V7.37549L13.1251 10.5006L8.12509 13.6255Z" fill="#FF0000"/>
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<path d="M 425.503 122.113 L 428.63 127.117 L 422.376 127.117 L 425.503 122.113 Z" style="stroke: rgb(0, 0, 0); stroke-width: 0px; fill: rgb(255, 255, 255);" transform="matrix(0, 1, -1, 0, 636.212463, -239.192383)" bx:shape="triangle 422.376 122.113 6.254 5.004 0.5 0 1@278e08c4"/>
</svg>
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After

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docs/c_docs.rst
+1 -1
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@@ -83,7 +83,7 @@ common
sensorsd
^^^^^^^^
.. autodoxygenindex::
:project: selfdrive_sensord_sensors
:project: system_sensord_sensors
boardd
^^^^^^
docs/docker/Dockerfile
+1 -7
View File
@@ -4,19 +4,13 @@ ENV PYTHONUNBUFFERED 1
ENV OPENPILOT_PATH /home/batman/openpilot/
ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
ENV POETRY_VIRUALENVS_CREATE false
RUN mkdir -p ${OPENPILOT_PATH}
WORKDIR ${OPENPILOT_PATH}
COPY Pipfile Pipfile.lock $OPENPILOT_PATH
RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
pipenv install --system --deploy --dev --clear && \
pip uninstall -y pipenv
COPY SConstruct ${OPENPILOT_PATH}
COPY ./pyextra ${OPENPILOT_PATH}/pyextra
COPY ./third_party ${OPENPILOT_PATH}/third_party
COPY ./site_scons ${OPENPILOT_PATH}/site_scons
COPY ./laika ${OPENPILOT_PATH}/laika
docs/overview.rst
+2 -1
View File
@@ -5,7 +5,7 @@ openpilot
:maxdepth: 4
Debugging <selfdrive/debug/README.md>
selfdrive/loggerd/README.md
system/loggerd/README.md
Driver Monitoring <selfdrive/monitoring/README.md>
Process Replay <selfdrive/test/process_replay/README.md>
@@ -77,3 +77,4 @@ tools
Simulator <tools/sim/README.md>
tools/ssh/README.md
Webcam <tools/webcam/README.md>
tools/cabana/README.md
laika_repo
+1 -1
Submodule laika_repo updated: e1049cde0a...6fadabd860
launch_chffrplus.sh
+1 -1
View File
@@ -74,7 +74,7 @@ function launch {
# handle pythonpath
ln -sfn $(pwd) /data/pythonpath
export PYTHONPATH="$PWD:$PWD/pyextra"
export PYTHONPATH="$PWD"
# hardware specific init
agnos_init
launch_env.sh
+1 -1
View File
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="6.1"
export AGNOS_VERSION="6.2"
fi
if [ -z "$PASSIVE" ]; then
lgtm.yml
-19
View File
@@ -1,19 +0,0 @@
path_classifiers:
library:
- external
- third_party
- pyextra
- tools/lib/mkvparse
extraction:
cpp:
after_prepare:
- "pip3 install --upgrade --user pkgconfig cython setuptools wheel"
- "pip3 install --upgrade --user jinja2 pyyaml cython pycapnp numpy sympy tqdm\
\ cffi logentries zmq scons"
- "export PATH=/opt/work/.local/bin:$PATH"
index:
build_command: "scons"
javascript:
index:
filters:
- exclude: "*"
mypy.ini
+1 -1
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@@ -2,7 +2,7 @@
python_version = 3.8
plugins = numpy.typing.mypy_plugin
files = body, common, docs, scripts, selfdrive, site_scons, system, tools
exclude = ^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
; third-party packages
ignore_missing_imports = True
opendbc
+1 -1
Submodule opendbc updated: 8f245e6ef5...b7d4a6e271
panda
+1 -1
Submodule panda updated: 638d94d7c8...d7e3f1680f
poetry.lock
Generated
+8702
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File diff suppressed because it is too large Load Diff
pyproject.toml
+182
View File
@@ -0,0 +1,182 @@
[tool.poetry]
name = "openpilot"
version = "0.1.0"
description = "an open source driver assistance system"
authors = ["Vehicle Researcher <user@comma.ai>"]
license = "MIT"
readme = "README.md"
repository = "https://github.com/commaai/openpilot"
documentation = "https://docs.comma.ai"
[tool.poetry.dependencies]
python = "~3.8"
atomicwrites = "^1.4.0"
casadi = { version = "==3.5.5", platform = "linux" }
cffi = "^1.15.1"
crcmod = "^1.7"
cryptography = "^37.0.4"
Cython = "^0.29.30"
flake8 = "^4.0.1"
Flask = "^2.1.2"
future-fstrings = "^1.2.0" # for acados
gunicorn = "^20.1.0"
hatanaka = "==2.4"
hexdump = "^3.3"
Jinja2 = "^3.1.2"
json-rpc = "^1.13.0"
libusb1 = "^3.0.0"
nose = "^1.3.7"
numpy = "^1.23.0"
onnx = "^1.12.0"
onnxruntime-gpu = { version = "^1.11.1", platform = "linux" }
pillow = "^9.2.0"
poetry = "==1.2.2"
protobuf = "==3.20.1"
psutil = "^5.9.1"
pycapnp = "==1.1.0"
pycryptodome = "^3.15.0"
PyJWT = "^2.5.0"
pylint = "^2.15.4"
pyopencl = "^2022.2.4"
pyserial = "^3.5"
python-dateutil = "^2.8.2"
PyYAML = "^6.0"
pyzmq = "^23.2.0"
requests = "^2.28.1"
scons = "^4.3.0"
sentry-sdk = "^1.6.0"
setproctitle = "^1.2.3"
six = "^1.16.0"
smbus2 = "^0.4.2"
sounddevice = "^0.4.5"
spidev = { version = "^3.6", platform = "linux" }
spidev2 = { version = "^0.9.0", platform = "linux" }
sympy = "^1.10.1"
timezonefinder = "^6.0.1"
tqdm = "^4.64.0"
urllib3 = "^1.26.10"
utm = "^0.7.0"
websocket_client = "^1.3.3"
polyline = "^1.4.0"
[tool.poetry.group.dev.dependencies]
av = "^9.2.0"
azure-storage-blob = "~2.1"
breathe = "^4.34.0"
carla = { version = "==0.9.13", platform = "linux" }
control = "^0.9.2"
coverage = "^6.4.1"
dictdiffer = "^0.9.0"
fastcluster = "^1.2.6"
ft4222 = "^1.4.1"
hexdump = "^3.3"
hypothesis = "==6.46.7"
inputs = "^0.5"
lru-dict = "^1.1.7"
lxml = "^4.9.1"
markdown-it-py = "^2.1.0"
matplotlib = "^3.5.2"
mpld3 = "^0.5.8"
mypy = "^0.961"
myst-parser = "^0.18.0"
natsort = "^8.1.0"
numpy = "^1.23.0"
opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
pandas = "^1.4.3"
parameterized = "^0.8.1"
paramiko = "^2.11.0"
pprofile = "^2.1.0"
pre-commit = "^2.19.0"
pycurl = "^7.45.1"
pygame = "^2.1.2"
pyprof2calltree = "^1.4.5"
pytest = "^7.1.2"
pytest-xdist = "^2.5.0"
reverse_geocoder = "^1.5.1"
scipy = "^1.8.1"
sphinx = "^5.0.2"
sphinx-rtd-theme = "^1.0.0"
sphinx-sitemap = "^2.2.0"
subprocess32 = "^3.5.4"
tabulate = "^0.8.10"
tenacity = "^8.0.1"
types-atomicwrites = "^1.4.5"
types-certifi = "^2021.10.8"
types-pycurl = "^7.45.1"
types-PyYAML = "^6.0"
types-requests = "^2.28.11"
types-tabulate = "^0.8.10"
[tool.poetry.group.xx]
optional = true
[tool.poetry.group.xx.dependencies]
aenum = "^3.1.11"
aiohttp = "^3.8.1"
albumentations = "^1.2.1"
apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" }
azure-cli-core = "^2.38.0"
azure-common = "^1.1.28"
azure-core = "^1.24.2"
azure-nspkg = "~3.0"
azure-storage-common = "~2.1"
azure-storage-nspkg = "~3.1"
blosc = "==1.9.2"
cloudpickle = "^2.1.0"
configargparse = "^1.5.3"
cupy-cuda11x = "^11.6.0"
datadog = "^0.44.0"
dotmap = "^1.3.30"
einops = "^0.5.0"
elasticsearch = "^8.3.1"
Flask-Cors = "^3.0.10"
Flask-SocketIO = "^5.2.0"
GeoAlchemy2 = "^0.12.1"
imageio = "^2.19.5"
influxdb-client = "^1.30.0"
ipykernel = "^6.15.1"
ipython = "^8.4.0"
joblib = "^1.1.0"
json-logging-py = "^0.2"
jupyter = "^1.0.0"
jupyterlab = "^3.4.4"
jupyterlab-vim = "^0.15.1"
Markdown = "^3.4.1"
msgpack-python = "^0.5.6"
networkx = "~2.8"
nvidia-ml-py3 = "^7.352.0"
onnx2torch = "^1.5.4"
onnxoptimizer = "^0.3.1"
osmium = "^3.3.0"
pillow-avif-plugin = "^1.2.2"
pipenv = "==2022.10.12"
plotly = "^5.9.0"
pycuda = "^2022.1"
Pygments = "^2.12.0"
PyMySQL = "~0.9"
pyproj = "^3.3.1"
python-logstash = "^0.4.8"
redis = "^4.3.4"
s2sphere = "^0.2.5"
scikit-image = "^0.19.3"
scikit-learn = "^1.1.1"
segmentation-models-pytorch = "==0.2.1"
simplejson = "^3.17.6"
SQLAlchemy = "^1.4.39"
torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" }
torchsummary = "^1.5.1"
torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" }
triton = "^2.0.0"
Werkzeug = "^2.1.2"
zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
omegaconf = "^2.3.0"
osmnx = "==1.2.2"
tritonclient = {version = "2.28.0", extras = ["http"]}
[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"
release/build_release.sh
+13 -9
View File
@@ -11,15 +11,19 @@ SOURCE_DIR="$(git rev-parse --show-toplevel)"
if [ -f /TICI ]; then
FILES_SRC="release/files_tici"
RELEASE_BRANCH=release3-staging
DASHCAM_BRANCH=dashcam3-staging
else
exit 0
echo "no release files set"
exit 1
fi
if [ -z "$RELEASE_BRANCH" ]; then
echo "RELEASE_BRANCH is not set"
exit 1
fi
# set git identity
source $DIR/identity.sh
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
echo "[-] Setting up repo T=$SECONDS"
rm -rf $BUILD_DIR
@@ -27,7 +31,6 @@ mkdir -p $BUILD_DIR
cd $BUILD_DIR
git init
git remote add origin git@github.com:commaai/openpilot.git
git fetch origin $RELEASE_BRANCH
git checkout --orphan $RELEASE_BRANCH
# do the files copy
@@ -48,7 +51,6 @@ echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
echo "[-] committing version $VERSION T=$SECONDS"
git add -f .
git commit -a -m "openpilot v$VERSION release"
git branch --set-upstream-to=origin/$RELEASE_BRANCH
# Build panda firmware
pushd panda/
@@ -105,10 +107,12 @@ RELEASE=1 selfdrive/test/test_onroad.py
selfdrive/car/tests/test_car_interfaces.py
rm -rf $TEST_FILES
if [ ! -z "$PUSH" ]; then
echo "[-] pushing T=$SECONDS"
git push -f origin $RELEASE_BRANCH
if [ ! -z "$RELEASE_BRANCH" ]; then
echo "[-] pushing release T=$SECONDS"
git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
fi
if [ ! -z "$DASHCAM_BRANCH" ]; then
# Create dashcam
git rm selfdrive/car/*/carcontroller.py
git commit -m "create dashcam release from release"
release/check-submodules.sh
+1 -1
View File
@@ -1,7 +1,7 @@
#!/bin/bash
while read hash submodule ref; do
git -C $submodule fetch --depth 100 origin master
git -C $submodule fetch --depth 1000 origin master
git -C $submodule branch -r --contains $hash | grep "origin/master"
if [ "$?" -eq 0 ]; then
echo "$submodule ok"
release/files_common
+72 -57
View File
@@ -71,6 +71,7 @@ selfdrive/rtshield.py
selfdrive/statsd.py
system/logmessaged.py
system/micd.py
system/swaglog.py
system/version.py
@@ -90,8 +91,12 @@ selfdrive/boardd/boardd_api_impl.pyx
selfdrive/boardd/can_list_to_can_capnp.cc
selfdrive/boardd/panda.cc
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/docs_definitions.py
@@ -141,6 +146,7 @@ selfdrive/debug/vw_mqb_config.py
common/SConscript
common/version.h
common/prefix.h
common/swaglog.h
common/swaglog.cc
common/statlog.h
@@ -186,8 +192,6 @@ selfdrive/controls/lib/pid.py
selfdrive/controls/lib/radar_helpers.py
selfdrive/controls/lib/vehicle_model.py
selfdrive/controls/lib/cluster/*
selfdrive/controls/lib/lateral_mpc_lib/.gitignore
selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
selfdrive/controls/lib/lateral_mpc_lib/*
@@ -212,21 +216,19 @@ system/hardware/tici/amplifier.py
system/hardware/tici/updater
system/hardware/tici/iwlist.py
system/hardware/pc/__init__.py
system/hardware/pc/hardware.h
system/hardware/pc/hardware.py
selfdrive/locationd/__init__.py
selfdrive/locationd/.gitignore
selfdrive/locationd/SConscript
selfdrive/locationd/ubloxd.cc
selfdrive/locationd/ublox_msg.cc
selfdrive/locationd/ublox_msg.h
selfdrive/locationd/generated/ubx.cpp
selfdrive/locationd/generated/ubx.h
selfdrive/locationd/generated/gps.cpp
selfdrive/locationd/generated/gps.h
system/ubloxd/.gitignore
system/ubloxd/SConscript
system/ubloxd/generated/*
system/ubloxd/*.h
system/ubloxd/*.cc
selfdrive/locationd/__init__.py
selfdrive/locationd/SConscript
selfdrive/locationd/.gitignore
selfdrive/locationd/laikad.py
selfdrive/locationd/laikad_helpers.py
selfdrive/locationd/locationd.h
selfdrive/locationd/locationd.cc
selfdrive/locationd/paramsd.py
@@ -252,36 +254,36 @@ system/proclogd/main.cc
system/proclogd/proclog.cc
system/proclogd/proclog.h
selfdrive/loggerd/.gitignore
selfdrive/loggerd/SConscript
selfdrive/loggerd/encoder/encoder.cc
selfdrive/loggerd/encoder/encoder.h
selfdrive/loggerd/encoder/v4l_encoder.cc
selfdrive/loggerd/encoder/v4l_encoder.h
selfdrive/loggerd/video_writer.cc
selfdrive/loggerd/video_writer.h
selfdrive/loggerd/logger.cc
selfdrive/loggerd/logger.h
selfdrive/loggerd/loggerd.cc
selfdrive/loggerd/loggerd.h
selfdrive/loggerd/encoderd.cc
selfdrive/loggerd/bootlog.cc
selfdrive/loggerd/encoder/ffmpeg_encoder.cc
selfdrive/loggerd/encoder/ffmpeg_encoder.h
system/loggerd/.gitignore
system/loggerd/SConscript
system/loggerd/encoder/encoder.cc
system/loggerd/encoder/encoder.h
system/loggerd/encoder/v4l_encoder.cc
system/loggerd/encoder/v4l_encoder.h
system/loggerd/video_writer.cc
system/loggerd/video_writer.h
system/loggerd/logger.cc
system/loggerd/logger.h
system/loggerd/loggerd.cc
system/loggerd/loggerd.h
system/loggerd/encoderd.cc
system/loggerd/bootlog.cc
system/loggerd/encoder/ffmpeg_encoder.cc
system/loggerd/encoder/ffmpeg_encoder.h
selfdrive/loggerd/__init__.py
selfdrive/loggerd/config.py
selfdrive/loggerd/uploader.py
selfdrive/loggerd/deleter.py
selfdrive/loggerd/xattr_cache.py
system/loggerd/__init__.py
system/loggerd/config.py
system/loggerd/uploader.py
system/loggerd/deleter.py
system/loggerd/xattr_cache.py
selfdrive/sensord/SConscript
selfdrive/sensord/libdiag.h
selfdrive/sensord/sensors_qcom2.cc
selfdrive/sensord/sensors/*.cc
selfdrive/sensord/sensors/*.h
selfdrive/sensord/sensord
selfdrive/sensord/pigeond.py
system/sensord/.gitignore
system/sensord/SConscript
system/sensord/sensors_qcom2.cc
system/sensord/sensors/*.cc
system/sensord/sensors/*.h
system/sensord/sensord
system/sensord/pigeond.py
selfdrive/thermald/thermald.py
selfdrive/thermald/power_monitoring.py
@@ -317,12 +319,17 @@ selfdrive/ui/qt/widgets/*.cc
selfdrive/ui/qt/widgets/*.h
selfdrive/ui/qt/maps/*.cc
selfdrive/ui/qt/maps/*.h
selfdrive/ui/qt/setup/*.cc
selfdrive/ui/qt/setup/*.h
selfdrive/ui/installer/*.cc
selfdrive/ui/installer/*.h
selfdrive/ui/installer/*.cc
system/camerad/SConscript
system/camerad/main.cc
system/camerad/snapshot/*
system/camerad/include/*
system/camerad/cameras/camera_common.h
system/camerad/cameras/camera_common.cc
system/camerad/cameras/sensor2_i2c.h
@@ -344,20 +351,28 @@ selfdrive/manager/test/test_manager.py
selfdrive/modeld/__init__.py
selfdrive/modeld/SConscript
selfdrive/modeld/modeld.cc
selfdrive/modeld/navmodeld.cc
selfdrive/modeld/dmonitoringmodeld.cc
selfdrive/modeld/constants.py
selfdrive/modeld/modeld
selfdrive/modeld/navmodeld
selfdrive/modeld/dmonitoringmodeld
selfdrive/modeld/models/commonmodel.cc
selfdrive/modeld/models/commonmodel.h
selfdrive/modeld/models/driving.cc
selfdrive/modeld/models/driving.h
selfdrive/modeld/models/supercombo.onnx
selfdrive/modeld/models/dmonitoring.cc
selfdrive/modeld/models/dmonitoring.h
selfdrive/modeld/models/supercombo.onnx
selfdrive/modeld/models/dmonitoring_model_q.dlc
selfdrive/modeld/models/nav.cc
selfdrive/modeld/models/nav.h
selfdrive/modeld/models/navmodel_q.dlc
selfdrive/modeld/transforms/loadyuv.cc
selfdrive/modeld/transforms/loadyuv.h
selfdrive/modeld/transforms/loadyuv.cl
@@ -370,7 +385,6 @@ selfdrive/modeld/thneed/thneed.h
selfdrive/modeld/thneed/thneed_common.cc
selfdrive/modeld/thneed/thneed_qcom2.cc
selfdrive/modeld/thneed/serialize.cc
selfdrive/modeld/thneed/include/*
selfdrive/modeld/runners/snpemodel.cc
selfdrive/modeld/runners/snpemodel.h
@@ -398,8 +412,11 @@ selfdrive/assets/offroad/*
selfdrive/assets/sounds/*
selfdrive/assets/training/*
third_party/.gitignore
third_party/SConscript
third_party/cluster/*
third_party/linux/**
third_party/opencl/**
@@ -422,15 +439,14 @@ third_party/snpe/dsp**
third_party/acados/x86_64/**
third_party/acados/larch64/**
third_party/acados/include/**
third_party/acados/acados_template/**
third_party/bootstrap/**
third_party/qt5/larch64/bin/**
scripts/update_now.sh
scripts/stop_updater.sh
pyextra/.gitignore
pyextra/acados_template/**
rednose/.gitignore
rednose/**
laika/**
@@ -480,6 +496,7 @@ cereal/visionipc/*.pxd
panda/.gitignore
panda/__init__.py
panda/SConscript
panda/board/**
panda/certs/**
panda/crypto/**
@@ -563,15 +580,13 @@ opendbc/tesla_radar.dbc
opendbc/tesla_powertrain.dbc
tinygrad_repo/openpilot/compile.py
tinygrad_repo/accel/opencl/*
tinygrad_repo/extra/onnx.py
tinygrad_repo/extra/onnx_ops.py
tinygrad_repo/extra/thneed.py
tinygrad_repo/extra/utils.py
tinygrad_repo/tinygrad/llops/ops_gpu.py
tinygrad_repo/tinygrad/llops/ops_opencl.py
tinygrad_repo/tinygrad/helpers.py
tinygrad_repo/tinygrad/mlops.py
tinygrad_repo/tinygrad/ops.py
tinygrad_repo/tinygrad/shapetracker.py
tinygrad_repo/tinygrad/tensor.py
tinygrad_repo/tinygrad/nn/__init__.py
tinygrad_repo/tinygrad/nn/optim.py
tinygrad_repo/tinygrad/codegen/ast.py
tinygrad_repo/tinygrad/codegen/gpu.py
tinygrad_repo/tinygrad/nn/*
tinygrad_repo/tinygrad/runtime/ops_gpu.py
tinygrad_repo/tinygrad/shape/*
tinygrad_repo/tinygrad/*.py
release/files_tici
+1 -1
View File
@@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc
system/camerad/cameras/camera_util.h
system/camerad/cameras/real_debayer.cl
selfdrive/sensord/rawgps/*
system/sensord/rawgps/*
selfdrive/ui/qt/spinner_larch64
selfdrive/ui/qt/text_larch64
scripts/cell.sh
+2 -4
View File
@@ -1,5 +1,3 @@
#!/usr/bin/bash
nmcli connection modify --temporary lte ipv4.route-metric 1
nmcli connection modify --temporary lte ipv6.route-metric 1
nmcli con up lte
nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1
nmcli con up --wait --ask lte
selfdrive/assets/assets.qrc
+1
View File
@@ -1,5 +1,6 @@
<!DOCTYPE RCC><RCC version="1.0">
<qresource>
<file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
<file>img_continue_triangle.svg</file>
<file>img_circled_check.svg</file>
<file>img_circled_slash.svg</file>
selfdrive/assets/fonts/JetBrainsMono-Medium.ttf
BIN
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selfdrive/assets/img_couch.svg
+4
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@@ -0,0 +1,4 @@
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<svg viewBox="0 0 300 300" xmlns="http://www.w3.org/2000/svg">
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selfdrive/assets/img_experimental_grey.svg
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selfdrive/assets/img_experimental_white.svg
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<svg width="300" height="300" viewBox="0 0 300 300" fill="none" xmlns="http://www.w3.org/2000/svg">
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selfdrive/assets/navigation/default_marker.svg
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<?xml version="1.0" encoding="UTF-8"?>
<svg fill="red" width="72" height="80" viewBox="0 0 15 15" xmlns="http://www.w3.org/2000/svg" id="marker">
<path stroke="darkred" stroke-width="0.5" d="M7.5 1C5.42312 1 3 2.2883 3 5.56759C3 7.79276 6.46156 12.7117 7.5 14C8.42309 12.7117 12 7.90993 12 5.56759C12 2.2883 9.57688 1 7.5 1Z"/>
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selfdrive/athena/athenad.py
+136 -91
View File
@@ -1,4 +1,6 @@
#!/usr/bin/env python3
from __future__ import annotations
import base64
import bz2
import hashlib
@@ -14,14 +16,15 @@ import sys
import tempfile
import threading
import time
from collections import namedtuple
from dataclasses import asdict, dataclass, replace
from datetime import datetime
from functools import partial
from typing import Any, Dict
from queue import Queue
from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast
import requests
from jsonrpc import JSONRPCResponseManager, dispatcher
from websocket import (ABNF, WebSocketException, WebSocketTimeoutException,
from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
create_connection)
import cereal.messaging as messaging
@@ -33,8 +36,8 @@ from common.file_helpers import CallbackReader
from common.params import Params
from common.realtime import sec_since_boot, set_core_affinity
from system.hardware import HARDWARE, PC, AGNOS
from selfdrive.loggerd.config import ROOT
from selfdrive.loggerd.xattr_cache import getxattr, setxattr
from system.loggerd.config import ROOT
from system.loggerd.xattr_cache import getxattr, setxattr
from selfdrive.statsd import STATS_DIR
from system.swaglog import SWAGLOG_DIR, cloudlog
from system.version import get_commit, get_origin, get_short_branch, get_version
@@ -54,19 +57,54 @@ WS_FRAME_SIZE = 4096
NetworkType = log.DeviceState.NetworkType
UploadFileDict = Dict[str, Union[str, int, float, bool]]
UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]]
UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]]
@dataclass
class UploadFile:
fn: str
url: str
headers: Dict[str, str]
allow_cellular: bool
@classmethod
def from_dict(cls, d: Dict) -> UploadFile:
return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False))
@dataclass
class UploadItem:
path: str
url: str
headers: Dict[str, str]
created_at: int
id: Optional[str]
retry_count: int = 0
current: bool = False
progress: float = 0
allow_cellular: bool = False
@classmethod
def from_dict(cls, d: Dict) -> UploadItem:
return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"],
d["progress"], d["allow_cellular"])
dispatcher["echo"] = lambda s: s
recv_queue: Any = queue.Queue()
send_queue: Any = queue.Queue()
upload_queue: Any = queue.Queue()
low_priority_send_queue: Any = queue.Queue()
log_recv_queue: Any = queue.Queue()
cancelled_uploads: Any = set()
UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress', 'allow_cellular'], defaults=(0, False, 0, False))
recv_queue: Queue[str] = queue.Queue()
send_queue: Queue[str] = queue.Queue()
upload_queue: Queue[UploadItem] = queue.Queue()
low_priority_send_queue: Queue[str] = queue.Queue()
log_recv_queue: Queue[str] = queue.Queue()
cancelled_uploads: Set[str] = set()
cur_upload_items: Dict[int, Any] = {}
cur_upload_items: Dict[int, Optional[UploadItem]] = {}
def strip_bz2_extension(fn):
def strip_bz2_extension(fn: str) -> str:
if fn.endswith('.bz2'):
return fn[:-4]
return fn
@@ -76,29 +114,30 @@ class AbortTransferException(Exception):
pass
class UploadQueueCache():
class UploadQueueCache:
params = Params()
@staticmethod
def initialize(upload_queue):
def initialize(upload_queue: Queue[UploadItem]) -> None:
try:
upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
if upload_queue_json is not None:
for item in json.loads(upload_queue_json):
upload_queue.put(UploadItem(**item))
upload_queue.put(UploadItem.from_dict(item))
except Exception:
cloudlog.exception("athena.UploadQueueCache.initialize.exception")
@staticmethod
def cache(upload_queue):
def cache(upload_queue: Queue[UploadItem]) -> None:
try:
items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads]
queue: List[Optional[UploadItem]] = list(upload_queue.queue)
items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
except Exception:
cloudlog.exception("athena.UploadQueueCache.cache.exception")
def handle_long_poll(ws):
def handle_long_poll(ws: WebSocket) -> None:
end_event = threading.Event()
threads = [
@@ -126,7 +165,7 @@ def handle_long_poll(ws):
thread.join()
def jsonrpc_handler(end_event):
def jsonrpc_handler(end_event: threading.Event) -> None:
dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
while not end_event.is_set():
try:
@@ -147,11 +186,12 @@ def jsonrpc_handler(end_event):
def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None:
if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT:
item = cur_upload_items[tid]
item = cur_upload_items[tid]
if item is not None and item.retry_count < MAX_RETRY_COUNT:
new_retry_count = item.retry_count + 1 if increase_count else item.retry_count
item = item._replace(
item = replace(
item,
retry_count=new_retry_count,
progress=0,
current=False
@@ -175,44 +215,44 @@ def upload_handler(end_event: threading.Event) -> None:
cur_upload_items[tid] = None
try:
cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True)
cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
if cur_upload_items[tid].id in cancelled_uploads:
cancelled_uploads.remove(cur_upload_items[tid].id)
if item.id in cancelled_uploads:
cancelled_uploads.remove(item.id)
continue
# Remove item if too old
age = datetime.now() - datetime.fromtimestamp(cur_upload_items[tid].created_at / 1000)
age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
if age.total_seconds() > MAX_AGE:
cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True)
cloudlog.event("athena.upload_handler.expired", item=item, error=True)
continue
# Check if uploading over metered connection is allowed
sm.update(0)
metered = sm['deviceState'].networkMetered
network_type = sm['deviceState'].networkType.raw
if metered and (not cur_upload_items[tid].allow_cellular):
if metered and (not item.allow_cellular):
retry_upload(tid, end_event, False)
continue
try:
def cb(sz, cur):
def cb(sz: int, cur: int) -> None:
# Abort transfer if connection changed to metered after starting upload
sm.update(0)
metered = sm['deviceState'].networkMetered
if metered and (not cur_upload_items[tid].allow_cellular):
if metered and (not item.allow_cellular):
raise AbortTransferException
cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)
cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
fn = cur_upload_items[tid].path
fn = item.path
try:
sz = os.path.getsize(fn)
except OSError:
sz = -1
cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=cur_upload_items[tid].retry_count)
response = _do_upload(cur_upload_items[tid], cb)
cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
response = _do_upload(item, cb)
if response.status_code not in (200, 201, 401, 403, 412):
cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
@@ -234,7 +274,7 @@ def upload_handler(end_event: threading.Event) -> None:
cloudlog.exception("athena.upload_handler.exception")
def _do_upload(upload_item, callback=None):
def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response:
path = upload_item.path
compress = False
@@ -244,27 +284,25 @@ def _do_upload(upload_item, callback=None):
compress = True
with open(path, "rb") as f:
data: BinaryIO
if compress:
cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
data = bz2.compress(f.read())
size = len(data)
data = io.BytesIO(data)
compressed = bz2.compress(f.read())
size = len(compressed)
data = io.BytesIO(compressed)
else:
size = os.fstat(f.fileno()).st_size
data = f
if callback:
data = CallbackReader(data, callback, size)
return requests.put(upload_item.url,
data=data,
data=CallbackReader(data, callback, size) if callback else data,
headers={**upload_item.headers, 'Content-Length': str(size)},
timeout=30)
# security: user should be able to request any message from their car
@dispatcher.add_method
def getMessage(service=None, timeout=1000):
def getMessage(service: str, timeout: int = 1000) -> Dict:
if service is None or service not in service_list:
raise Exception("invalid service")
@@ -274,7 +312,8 @@ def getMessage(service=None, timeout=1000):
if ret is None:
raise TimeoutError
return ret.to_dict()
# this is because capnp._DynamicStructReader doesn't have typing information
return cast(Dict, ret.to_dict())
@dispatcher.add_method
@@ -288,7 +327,7 @@ def getVersion() -> Dict[str, str]:
@dispatcher.add_method
def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=None):
def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = None) -> Dict[str, int]:
destination = {
"latitude": latitude,
"longitude": longitude,
@@ -300,8 +339,8 @@ def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=No
return {"success": 1}
def scan_dir(path, prefix):
files = list()
def scan_dir(path: str, prefix: str) -> List[str]:
files = []
# only walk directories that match the prefix
# (glob and friends traverse entire dir tree)
with os.scandir(path) as i:
@@ -320,18 +359,18 @@ def scan_dir(path, prefix):
return files
@dispatcher.add_method
def listDataDirectory(prefix=''):
def listDataDirectory(prefix='') -> List[str]:
return scan_dir(ROOT, prefix)
@dispatcher.add_method
def reboot():
def reboot() -> Dict[str, int]:
sock = messaging.sub_sock("deviceState", timeout=1000)
ret = messaging.recv_one(sock)
if ret is None or ret.deviceState.started:
raise Exception("Reboot unavailable")
def do_reboot():
def do_reboot() -> None:
time.sleep(2)
HARDWARE.reboot()
@@ -341,50 +380,53 @@ def reboot():
@dispatcher.add_method
def uploadFileToUrl(fn, url, headers):
return uploadFilesToUrls([{
def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse:
# this is because mypy doesn't understand that the decorator doesn't change the return type
response: UploadFilesToUrlResponse = uploadFilesToUrls([{
"fn": fn,
"url": url,
"headers": headers,
}])
return response
@dispatcher.add_method
def uploadFilesToUrls(files_data):
items = []
failed = []
for file in files_data:
fn = file.get('fn', '')
if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file:
failed.append(fn)
def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse:
files = map(UploadFile.from_dict, files_data)
items: List[UploadItemDict] = []
failed: List[str] = []
for file in files:
if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0:
failed.append(file.fn)
continue
path = os.path.join(ROOT, fn)
path = os.path.join(ROOT, file.fn)
if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
failed.append(fn)
failed.append(file.fn)
continue
# Skip item if already in queue
url = file['url'].split('?')[0]
url = file.url.split('?')[0]
if any(url == item['url'].split('?')[0] for item in listUploadQueue()):
continue
item = UploadItem(
path=path,
url=file['url'],
headers=file.get('headers', {}),
url=file.url,
headers=file.headers,
created_at=int(time.time() * 1000),
id=None,
allow_cellular=file.get('allow_cellular', False),
allow_cellular=file.allow_cellular,
)
upload_id = hashlib.sha1(str(item).encode()).hexdigest()
item = item._replace(id=upload_id)
item = replace(item, id=upload_id)
upload_queue.put_nowait(item)
items.append(item._asdict())
items.append(asdict(item))
UploadQueueCache.cache(upload_queue)
resp = {"enqueued": len(items), "items": items}
resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items}
if failed:
resp["failed"] = failed
@@ -392,32 +434,32 @@ def uploadFilesToUrls(files_data):
@dispatcher.add_method
def listUploadQueue():
def listUploadQueue() -> List[UploadItemDict]:
items = list(upload_queue.queue) + list(cur_upload_items.values())
return [i._asdict() for i in items if (i is not None) and (i.id not in cancelled_uploads)]
return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
@dispatcher.add_method
def cancelUpload(upload_id):
def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]:
if not isinstance(upload_id, list):
upload_id = [upload_id]
uploading_ids = {item.id for item in list(upload_queue.queue)}
cancelled_ids = uploading_ids.intersection(upload_id)
if len(cancelled_ids) == 0:
return 404
return {"success": 0, "error": "not found"}
cancelled_uploads.update(cancelled_ids)
return {"success": 1}
@dispatcher.add_method
def primeActivated(activated):
def primeActivated(activated: bool) -> Dict[str, int]:
return {"success": 1}
@dispatcher.add_method
def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]:
if not AGNOS:
return {"success": 0, "error": "only supported on AGNOS"}
@@ -428,7 +470,7 @@ def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr}
def startLocalProxy(global_end_event, remote_ws_uri, local_port):
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]:
try:
if local_port not in LOCAL_PORT_WHITELIST:
raise Exception("Requested local port not whitelisted")
@@ -462,7 +504,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
@dispatcher.add_method
def getPublicKey():
def getPublicKey() -> Optional[str]:
if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
return None
@@ -471,7 +513,7 @@ def getPublicKey():
@dispatcher.add_method
def getSshAuthorizedKeys():
def getSshAuthorizedKeys() -> str:
return Params().get("GithubSshKeys", encoding='utf8') or ''
@@ -486,7 +528,7 @@ def getNetworkType():
@dispatcher.add_method
def getNetworkMetered():
def getNetworkMetered() -> bool:
network_type = HARDWARE.get_network_type()
return HARDWARE.get_network_metered(network_type)
@@ -497,7 +539,7 @@ def getNetworks():
@dispatcher.add_method
def takeSnapshot():
def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
from system.camerad.snapshot.snapshot import jpeg_write, snapshot
ret = snapshot()
if ret is not None:
@@ -514,16 +556,19 @@ def takeSnapshot():
raise Exception("not available while camerad is started")
def get_logs_to_send_sorted():
def get_logs_to_send_sorted() -> List[str]:
# TODO: scan once then use inotify to detect file creation/deletion
curr_time = int(time.time())
logs = []
for log_entry in os.listdir(SWAGLOG_DIR):
log_path = os.path.join(SWAGLOG_DIR, log_entry)
time_sent = 0
try:
time_sent = int.from_bytes(getxattr(log_path, LOG_ATTR_NAME), sys.byteorder)
value = getxattr(log_path, LOG_ATTR_NAME)
if value is not None:
time_sent = int.from_bytes(value, sys.byteorder)
except (ValueError, TypeError):
time_sent = 0
pass
# assume send failed and we lost the response if sent more than one hour ago
if not time_sent or curr_time - time_sent > 3600:
logs.append(log_entry)
@@ -531,7 +576,7 @@ def get_logs_to_send_sorted():
return sorted(logs)[:-1]
def log_handler(end_event):
def log_handler(end_event: threading.Event) -> None:
if PC:
return
@@ -593,7 +638,7 @@ def log_handler(end_event):
cloudlog.exception("athena.log_handler.exception")
def stat_handler(end_event):
def stat_handler(end_event: threading.Event) -> None:
while not end_event.is_set():
last_scan = 0
curr_scan = sec_since_boot()
@@ -619,7 +664,7 @@ def stat_handler(end_event):
time.sleep(0.1)
def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
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()
@@ -638,7 +683,7 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
end_event.set()
def ws_proxy_send(ws, local_sock, signal_sock, end_event):
def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket.socket, end_event: threading.Event) -> None:
while not end_event.is_set():
try:
r, _, _ = select.select((local_sock, signal_sock), (), ())
@@ -663,7 +708,7 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
cloudlog.debug("athena.ws_proxy_send done closing sockets")
def ws_recv(ws, end_event):
def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
last_ping = int(sec_since_boot() * 1e9)
while not end_event.is_set():
try:
@@ -685,7 +730,7 @@ def ws_recv(ws, end_event):
end_event.set()
def ws_send(ws, end_event):
def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
while not end_event.is_set():
try:
try:
@@ -704,7 +749,7 @@ def ws_send(ws, end_event):
end_event.set()
def backoff(retries):
def backoff(retries: int) -> int:
return random.randrange(0, min(128, int(2 ** retries)))
selfdrive/athena/tests/test_athenad.py
+6 -4
View File
@@ -8,6 +8,7 @@ import time
import threading
import queue
import unittest
from dataclasses import asdict, replace
from datetime import datetime, timedelta
from typing import Optional
@@ -226,7 +227,7 @@ class TestAthenadMethods(unittest.TestCase):
"""When an upload times out or fails to connect it should be placed back in the queue"""
fn = self._create_file('qlog.bz2')
item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT)
item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)
end_event = threading.Event()
thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
@@ -296,7 +297,7 @@ class TestAthenadMethods(unittest.TestCase):
self.assertEqual(len(items), 0)
@with_http_server
def test_listUploadQueueCurrent(self, host):
def test_listUploadQueueCurrent(self, host: str):
fn = self._create_file('qlog.bz2')
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
@@ -321,7 +322,7 @@ class TestAthenadMethods(unittest.TestCase):
items = dispatcher["listUploadQueue"]()
self.assertEqual(len(items), 1)
self.assertDictEqual(items[0], item._asdict())
self.assertDictEqual(items[0], asdict(item))
self.assertFalse(items[0]['current'])
athenad.cancelled_uploads.add(item.id)
@@ -346,7 +347,7 @@ class TestAthenadMethods(unittest.TestCase):
athenad.UploadQueueCache.initialize(athenad.upload_queue)
self.assertEqual(athenad.upload_queue.qsize(), 1)
self.assertDictEqual(athenad.upload_queue.queue[-1]._asdict(), item1._asdict())
self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1))
@mock.patch('selfdrive.athena.athenad.create_connection')
def test_startLocalProxy(self, mock_create_connection):
@@ -417,5 +418,6 @@ class TestAthenadMethods(unittest.TestCase):
sl = athenad.get_logs_to_send_sorted()
self.assertListEqual(sl, fl[:-1])
if __name__ == '__main__':
unittest.main()
selfdrive/boardd/SConscript
+2 -2
View File
@@ -1,9 +1,9 @@
Import('env', 'envCython', 'common', 'cereal', 'messaging')
libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc'], LIBS=libs)
env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
if GetOption('test'):
env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc'], LIBS=libs)
env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
selfdrive/boardd/boardd.cc
+30 -33
View File
@@ -7,6 +7,7 @@
#include <unistd.h>
#include <algorithm>
#include <array>
#include <atomic>
#include <bitset>
#include <cassert>
@@ -19,8 +20,6 @@
#include <future>
#include <thread>
#include <libusb-1.0/libusb.h>
#include "cereal/gen/cpp/car.capnp.h"
#include "cereal/messaging/messaging.h"
#include "common/params.h"
@@ -50,8 +49,8 @@
#define MAX_IR_POWER 0.5f
#define MIN_IR_POWER 0.0f
#define CUTOFF_IL 200
#define SATURATE_IL 1600
#define CUTOFF_IL 400
#define SATURATE_IL 1000
#define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
using namespace std::chrono_literals;
@@ -67,7 +66,7 @@ static std::string get_time_str(const struct tm &time) {
bool check_all_connected(const std::vector<Panda *> &pandas) {
for (const auto& panda : pandas) {
if (!panda->connected) {
if (!panda->connected()) {
do_exit = true;
return false;
}
@@ -107,40 +106,42 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
bool safety_setter_thread(std::vector<Panda *> pandas) {
LOGD("Starting safety setter thread");
Params p;
// there should be at least one panda connected
if (pandas.size() == 0) {
return false;
}
// set to ELM327 for fingerprinting
// initialize to ELM327 without OBD multiplexing for fingerprinting
bool obd_multiplexing_enabled = false;
for (int i = 0; i < pandas.size(); i++) {
const uint16_t safety_param = (i > 0) ? 1U : 0U;
pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
}
Params p = Params();
// wait for VIN to be read
// openpilot can switch between multiplexing modes for different FW queries
while (true) {
if (do_exit || !check_all_connected(pandas) || !ignition) {
return false;
}
std::string value_vin = p.get("CarVin");
if (value_vin.size() > 0) {
// sanity check VIN format
assert(value_vin.size() == 17);
LOGW("got CarVin %s", value_vin.c_str());
bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled");
if (obd_multiplexing_requested != obd_multiplexing_enabled) {
for (int i = 0; i < pandas.size(); i++) {
const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
}
obd_multiplexing_enabled = obd_multiplexing_requested;
p.putBool("ObdMultiplexingChanged", true);
}
if (p.getBool("FirmwareQueryDone")) {
LOGW("finished FW query");
break;
}
util::sleep_for(20);
}
// set to ELM327 for ECU knockouts
for (Panda *panda : pandas) {
panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
}
std::string params;
LOGW("waiting for params to set safety model");
while (true) {
@@ -184,7 +185,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
return true;
}
Panda *usb_connect(std::string serial="", uint32_t index=0) {
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));
@@ -227,9 +228,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
//Dont send if older than 1 second
if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
for (const auto& panda : pandas) {
LOGT("sending sendcan to panda: %s", (panda->usb_serial).c_str());
LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
panda->can_send(event.getSendcan());
LOGT("sendcan sent to panda: %s", (panda->usb_serial).c_str());
LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
}
}
}
@@ -357,7 +358,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
}
#endif
if (!panda->comms_healthy) {
if (!panda->comms_healthy()) {
evt.setValid(false);
}
@@ -433,7 +434,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
// build msg
MessageBuilder msg;
auto evt = msg.initEvent();
evt.setValid(panda->comms_healthy);
evt.setValid(panda->comms_healthy());
auto ps = evt.initPeripheralState();
ps.setPandaType(panda->hw_type);
@@ -526,13 +527,10 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
while (!do_exit && panda->connected) {
while (!do_exit && panda->connected()) {
cnt++;
sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
// Other pandas don't have fan/IR to control
if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue;
if (sm.updated("deviceState") && !no_fan_control) {
// Fan speed
uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
@@ -545,9 +543,8 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
if (sm.updated("driverCameraState")) {
auto event = sm["driverCameraState"];
int cur_integ_lines = event.getDriverCameraState().getIntegLines();
float cur_gain = event.getDriverCameraState().getGain();
cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain);
cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
last_front_frame_t = event.getLogMonoTime();
if (cur_integ_lines <= CUTOFF_IL) {
@@ -595,7 +592,7 @@ void boardd_main_thread(std::vector<std::string> serials) {
// connect to all provided serials
std::vector<Panda *> pandas;
for (int i = 0; i < serials.size() && !do_exit; /**/) {
Panda *p = usb_connect(serials[i], i);
Panda *p = connect(serials[i], i);
if (!p) {
// send empty pandaState & peripheralState and try again
send_empty_panda_state(&pm);
selfdrive/boardd/panda.cc
+109 -276
View File
@@ -4,75 +4,20 @@
#include <cassert>
#include <stdexcept>
#include <vector>
#include "cereal/messaging/messaging.h"
#include "panda/board/dlc_to_len.h"
#include "common/gpio.h"
#include "common/swaglog.h"
#include "common/util.h"
static int init_usb_ctx(libusb_context **context) {
assert(context != nullptr);
int err = libusb_init(context);
if (err != 0) {
LOGE("libusb initialization error");
return err;
}
#if LIBUSB_API_VERSION >= 0x01000106
libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
#else
libusb_set_debug(*context, 3);
#endif
return err;
}
Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
// init libusb
ssize_t num_devices;
libusb_device **dev_list = NULL;
int err = init_usb_ctx(&ctx);
if (err != 0) { goto fail; }
// connect by serial
num_devices = libusb_get_device_list(ctx, &dev_list);
if (num_devices < 0) { goto fail; }
for (size_t i = 0; i < num_devices; ++i) {
libusb_device_descriptor desc;
libusb_get_device_descriptor(dev_list[i], &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
int ret = libusb_open(dev_list[i], &dev_handle);
if (dev_handle == NULL || ret < 0) { goto fail; }
unsigned char desc_serial[26] = { 0 };
ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
if (ret < 0) { goto fail; }
usb_serial = std::string((char *)desc_serial, ret).c_str();
if (serial.empty() || serial == usb_serial) {
break;
}
libusb_close(dev_handle);
dev_handle = NULL;
}
// try USB first, then SPI
try {
handle = std::make_unique<PandaUsbHandle>(serial);
} catch (std::exception &e) {
#ifndef __APPLE__
handle = std::make_unique<PandaSpiHandle>(serial);
#endif
}
if (dev_handle == NULL) goto fail;
libusb_free_device_list(dev_list, 1);
dev_list = nullptr;
if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
libusb_detach_kernel_driver(dev_handle, 0);
}
err = libusb_set_configuration(dev_handle, 1);
if (err != 0) { goto fail; }
err = libusb_claim_interface(dev_handle, 0);
if (err != 0) { goto fail; }
hw_type = get_hw_type();
@@ -80,197 +25,64 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
(hw_type != cereal::PandaState::PandaType::GREY_PANDA));
has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
(hw_type == cereal::PandaState::PandaType::DOS);
(hw_type == cereal::PandaState::PandaType::DOS) ||
(hw_type == cereal::PandaState::PandaType::TRES);
can_reset_communications();
return;
fail:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
cleanup();
throw std::runtime_error("Error connecting to panda");
}
Panda::~Panda() {
std::lock_guard lk(usb_lock);
cleanup();
connected = false;
bool Panda::connected() {
return handle->connected;
}
void Panda::cleanup() {
if (dev_handle) {
libusb_release_interface(dev_handle, 0);
libusb_close(dev_handle);
}
bool Panda::comms_healthy() {
return handle->comms_healthy;
}
if (ctx) {
libusb_exit(ctx);
}
std::string Panda::hw_serial() {
return handle->hw_serial;
}
std::vector<std::string> Panda::list() {
// init libusb
ssize_t num_devices;
libusb_context *context = NULL;
libusb_device **dev_list = NULL;
std::vector<std::string> serials;
std::vector<std::string> serials = PandaUsbHandle::list();
int err = init_usb_ctx(&context);
if (err != 0) { return serials; }
num_devices = libusb_get_device_list(context, &dev_list);
if (num_devices < 0) {
LOGE("libusb can't get device list");
goto finish;
}
for (size_t i = 0; i < num_devices; ++i) {
libusb_device *device = dev_list[i];
libusb_device_descriptor desc;
libusb_get_device_descriptor(device, &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
libusb_device_handle *handle = NULL;
int ret = libusb_open(device, &handle);
if (ret < 0) { goto finish; }
unsigned char desc_serial[26] = { 0 };
ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
libusb_close(handle);
if (ret < 0) { goto finish; }
serials.push_back(std::string((char *)desc_serial, ret).c_str());
#ifndef __APPLE__
for (auto s : PandaSpiHandle::list()) {
if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
serials.push_back(s);
}
}
#endif
finish:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
if (context) {
libusb_exit(context);
}
return serials;
}
void Panda::handle_usb_issue(int err, const char func[]) {
LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
if (err == LIBUSB_ERROR_NO_DEVICE) {
LOGE("lost connection");
connected = false;
}
// TODO: check other errors, is simply retrying okay?
}
int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected) {
return LIBUSB_ERROR_NO_DEVICE;
}
std::lock_guard lk(usb_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
return err;
}
int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected) {
return LIBUSB_ERROR_NO_DEVICE;
}
std::lock_guard lk(usb_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
return err;
}
int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
if (!connected) {
return 0;
}
std::lock_guard lk(usb_lock);
do {
// Try sending can messages. If the receive buffer on the panda is full it will NAK
// and libusb will try again. After 5ms, it will time out. We will drop the messages.
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
LOGW("Transmit buffer full");
break;
} else if (err != 0 || length != transferred) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
return transferred;
}
int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
if (!connected) {
return 0;
}
std::lock_guard lk(usb_lock);
do {
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
break; // timeout is okay to exit, recv still happened
} else if (err == LIBUSB_ERROR_OVERFLOW) {
comms_healthy = false;
LOGE_100("overflow got 0x%x", transferred);
} else if (err != 0) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
return transferred;
}
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
usb_write(0xdc, (uint16_t)safety_model, safety_param);
handle->control_write(0xdc, (uint16_t)safety_model, safety_param);
}
void Panda::set_alternative_experience(uint16_t alternative_experience) {
usb_write(0xdf, alternative_experience, 0);
handle->control_write(0xdf, alternative_experience, 0);
}
cereal::PandaState::PandaType Panda::get_hw_type() {
unsigned char hw_query[1] = {0};
usb_read(0xc1, 0, 0, hw_query, 1);
handle->control_read(0xc1, 0, 0, hw_query, 1);
return (cereal::PandaState::PandaType)(hw_query[0]);
}
void Panda::set_rtc(struct tm sys_time) {
// tm struct has year defined as years since 1900
usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
usb_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
// usb_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
usb_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
usb_write(0xa6, (uint16_t)sys_time.tm_min, 0);
usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
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() {
@@ -284,7 +96,7 @@ struct tm Panda::get_rtc() {
uint8_t second;
} rtc_time = {0};
usb_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
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
@@ -298,70 +110,70 @@ struct tm Panda::get_rtc() {
}
void Panda::set_fan_speed(uint16_t fan_speed) {
usb_write(0xb1, fan_speed, 0);
handle->control_write(0xb1, fan_speed, 0);
}
uint16_t Panda::get_fan_speed() {
uint16_t fan_speed_rpm = 0;
usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm));
handle->control_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm));
return fan_speed_rpm;
}
void Panda::set_ir_pwr(uint16_t ir_pwr) {
usb_write(0xb0, ir_pwr, 0);
handle->control_write(0xb0, ir_pwr, 0);
}
std::optional<health_t> Panda::get_state() {
health_t health {0};
int err = usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
int err = handle->control_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
return err >= 0 ? std::make_optional(health) : std::nullopt;
}
std::optional<can_health_t> Panda::get_can_state(uint16_t can_number) {
can_health_t can_health {0};
int err = usb_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health));
int err = handle->control_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health));
return err >= 0 ? std::make_optional(can_health) : std::nullopt;
}
void Panda::set_loopback(bool loopback) {
usb_write(0xe5, loopback, 0);
handle->control_write(0xe5, loopback, 0);
}
std::optional<std::vector<uint8_t>> Panda::get_firmware_version() {
std::vector<uint8_t> fw_sig_buf(128);
int read_1 = usb_read(0xd3, 0, 0, &fw_sig_buf[0], 64);
int read_2 = usb_read(0xd4, 0, 0, &fw_sig_buf[64], 64);
int read_1 = handle->control_read(0xd3, 0, 0, &fw_sig_buf[0], 64);
int read_2 = handle->control_read(0xd4, 0, 0, &fw_sig_buf[64], 64);
return ((read_1 == 64) && (read_2 == 64)) ? std::make_optional(fw_sig_buf) : std::nullopt;
}
std::optional<std::string> Panda::get_serial() {
char serial_buf[17] = {'\0'};
int err = usb_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16);
int err = handle->control_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16);
return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
}
void Panda::set_power_saving(bool power_saving) {
usb_write(0xe7, power_saving, 0);
handle->control_write(0xe7, power_saving, 0);
}
void Panda::enable_deepsleep() {
usb_write(0xfb, 0, 0);
handle->control_write(0xfb, 0, 0);
}
void Panda::send_heartbeat(bool engaged) {
usb_write(0xf3, engaged, 0);
handle->control_write(0xf3, engaged, 0);
}
void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
usb_write(0xde, bus, (speed * 10));
handle->control_write(0xde, bus, (speed * 10));
}
void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
usb_write(0xf9, bus, (speed * 10));
handle->control_write(0xf9, bus, (speed * 10));
}
void Panda::set_canfd_non_iso(uint16_t bus, bool non_iso) {
usb_write(0xfc, bus, non_iso);
handle->control_write(0xfc, bus, non_iso);
}
static uint8_t len_to_dlc(uint8_t len) {
@@ -375,17 +187,6 @@ static uint8_t len_to_dlc(uint8_t len) {
}
}
static void write_packet(uint8_t *dest, int *write_pos, const uint8_t *src, size_t size) {
for (int i = 0, &pos = *write_pos; i < size; ++i, ++pos) {
// Insert counter every 64 bytes (first byte of 64 bytes USB packet)
if (pos % USBPACKET_MAX_SIZE == 0) {
dest[pos] = pos / USBPACKET_MAX_SIZE;
pos++;
}
dest[pos] = src[i];
}
}
void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
std::function<void(uint8_t *, size_t)> write_func) {
int32_t pos = 0;
@@ -399,8 +200,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
}
auto can_data = cmsg.getDat();
uint8_t data_len_code = len_to_dlc(can_data.size());
assert(can_data.size() <= ((hw_type == cereal::PandaState::PandaType::RED_PANDA ||
hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) ? 64 : 8));
assert(can_data.size() <= 64);
assert(can_data.size() == dlc_to_len[data_len_code]);
can_header header;
@@ -408,9 +208,17 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
header.data_len_code = data_len_code;
header.bus = bus - bus_offset;
header.checksum = 0;
memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
memcpy(&send_buf[pos + sizeof(can_header)], (uint8_t *)can_data.begin(), can_data.size());
uint32_t msg_size = sizeof(can_header) + can_data.size();
// set checksum
((can_header *) &send_buf[pos])->checksum = calculate_checksum(&send_buf[pos], msg_size);
pos += msg_size;
write_packet(send_buf, &pos, (uint8_t *)&header, sizeof(can_header));
write_packet(send_buf, &pos, (uint8_t *)can_data.begin(), can_data.size());
if (pos >= USB_TX_SOFT_LIMIT) {
write_func(send_buf, pos);
pos = 0;
@@ -423,51 +231,76 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) {
usb_bulk_write(3, data, size, 5);
handle->bulk_write(3, data, size, 5);
});
}
bool Panda::can_receive(std::vector<can_frame>& out_vec) {
uint8_t data[RECV_SIZE];
int recv = usb_bulk_read(0x81, (uint8_t*)data, RECV_SIZE);
if (!comms_healthy) {
// Check if enough space left in buffer to store RECV_SIZE data
assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer));
int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE);
if (!comms_healthy()) {
return false;
}
if (recv == RECV_SIZE) {
LOGW("Panda receive buffer full");
}
receive_buffer_size += recv;
return (recv <= 0) ? true : unpack_can_buffer(data, recv, out_vec);
return (recv <= 0) ? true : unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec);
}
bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec) {
recv_buf.clear();
for (int i = 0; i < size; i += USBPACKET_MAX_SIZE) {
if (data[i] != i / USBPACKET_MAX_SIZE) {
LOGE("CAN: MALFORMED USB RECV PACKET");
comms_healthy = false;
return false;
}
int chunk_len = std::min(USBPACKET_MAX_SIZE, (size - i));
recv_buf.insert(recv_buf.end(), &data[i + 1], &data[i + chunk_len]);
}
void Panda::can_reset_communications() {
handle->control_write(0xc0, 0, 0);
}
bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec) {
int pos = 0;
while (pos < recv_buf.size()) {
while (pos <= size - sizeof(can_header)) {
can_header header;
memcpy(&header, &recv_buf[pos], CANPACKET_HEAD_SIZE);
memcpy(&header, &data[pos], sizeof(can_header));
const uint8_t data_len = dlc_to_len[header.data_len_code];
if (pos + sizeof(can_header) + data_len > size) {
// we don't have all the data for this message yet
break;
}
can_frame &canData = out_vec.emplace_back();
canData.busTime = 0;
canData.address = header.addr;
canData.src = header.bus + bus_offset;
if (header.rejected) { canData.src += CANPACKET_REJECTED; }
if (header.returned) { canData.src += CANPACKET_RETURNED; }
if (header.rejected) {
canData.src += CAN_REJECTED_BUS_OFFSET;
}
if (header.returned) {
canData.src += CAN_RETURNED_BUS_OFFSET;
}
const uint8_t data_len = dlc_to_len[header.data_len_code];
canData.dat.assign((char *)&recv_buf[pos + CANPACKET_HEAD_SIZE], data_len);
if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
LOGE("Panda CAN checksum failed");
size = 0;
return false;
}
pos += CANPACKET_HEAD_SIZE + data_len;
canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
pos += sizeof(can_header) + data_len;
}
// move the overflowing data to the beginning of the buffer for the next round
memmove(data, &data[pos], size - pos);
size -= pos;
return true;
}
uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) {
uint8_t checksum = 0U;
for (uint32_t i = 0U; i < len; i++) {
checksum ^= data[i];
}
return checksum;
}
selfdrive/boardd/panda.h
+27 -35
View File
@@ -1,30 +1,26 @@
#pragma once
#include <atomic>
#include <cstdint>
#include <ctime>
#include <functional>
#include <list>
#include <mutex>
#include <memory>
#include <optional>
#include <vector>
#include <libusb-1.0/libusb.h>
#include "cereal/gen/cpp/car.capnp.h"
#include "cereal/gen/cpp/log.capnp.h"
#include "panda/board/health.h"
#include "panda/board/can_definitions.h"
#include "selfdrive/boardd/panda_comms.h"
#define TIMEOUT 0
#define PANDA_CAN_CNT 3
#define PANDA_BUS_CNT 4
#define RECV_SIZE (0x4000U)
#define USB_TX_SOFT_LIMIT (0x100U)
#define USBPACKET_MAX_SIZE (0x40)
#define CANPACKET_HEAD_SIZE 5U
#define CANPACKET_MAX_SIZE 72U
#define CANPACKET_REJECTED (0xC0U)
#define CANPACKET_RETURNED (0x80U)
#define RECV_SIZE (0x4000U)
#define CAN_REJECTED_BUS_OFFSET 0xC0U
#define CAN_RETURNED_BUS_OFFSET 0x80U
struct __attribute__((packed)) can_header {
uint8_t reserved : 1;
@@ -34,44 +30,35 @@ struct __attribute__((packed)) can_header {
uint8_t returned : 1;
uint8_t extended : 1;
uint32_t addr : 29;
uint8_t checksum : 8;
};
struct can_frame {
long address;
std::string dat;
long busTime;
long src;
long address;
std::string dat;
long busTime;
long src;
};
class Panda {
private:
libusb_context *ctx = NULL;
libusb_device_handle *dev_handle = NULL;
std::mutex usb_lock;
std::vector<uint8_t> recv_buf;
void handle_usb_issue(int err, const char func[]);
void cleanup();
private:
std::unique_ptr<PandaCommsHandle> handle;
public:
public:
Panda(std::string serial="", uint32_t bus_offset=0);
~Panda();
std::string usb_serial;
std::atomic<bool> connected = true;
std::atomic<bool> comms_healthy = true;
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
bool has_rtc = false;
const uint32_t bus_offset;
bool connected();
bool comms_healthy();
std::string hw_serial();
// Static functions
static std::vector<std::string> list();
// HW communication
int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT);
int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT);
int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
// Panda functionality
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
@@ -94,11 +81,16 @@ class Panda {
void set_canfd_non_iso(uint16_t bus, bool non_iso);
void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
bool can_receive(std::vector<can_frame>& out_vec);
void can_reset_communications();
protected:
// for unit tests
uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
uint32_t receive_buffer_size = 0;
Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
std::function<void(uint8_t *, size_t)> write_func);
bool unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec);
bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
uint8_t calculate_checksum(uint8_t *data, uint32_t len);
};
selfdrive/boardd/panda_comms.cc
+232
View File
@@ -0,0 +1,232 @@
#include "selfdrive/boardd/panda.h"
#include <cassert>
#include <stdexcept>
#include "common/swaglog.h"
static int init_usb_ctx(libusb_context **context) {
assert(context != nullptr);
int err = libusb_init(context);
if (err != 0) {
LOGE("libusb initialization error");
return err;
}
#if LIBUSB_API_VERSION >= 0x01000106
libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
#else
libusb_set_debug(*context, 3);
#endif
return err;
}
PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
// init libusb
ssize_t num_devices;
libusb_device **dev_list = NULL;
int err = init_usb_ctx(&ctx);
if (err != 0) { goto fail; }
// connect by serial
num_devices = libusb_get_device_list(ctx, &dev_list);
if (num_devices < 0) { goto fail; }
for (size_t i = 0; i < num_devices; ++i) {
libusb_device_descriptor desc;
libusb_get_device_descriptor(dev_list[i], &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
int ret = libusb_open(dev_list[i], &dev_handle);
if (dev_handle == NULL || ret < 0) { goto fail; }
unsigned char desc_serial[26] = { 0 };
ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
if (ret < 0) { goto fail; }
hw_serial = std::string((char *)desc_serial, ret);
if (serial.empty() || serial == hw_serial) {
break;
}
libusb_close(dev_handle);
dev_handle = NULL;
}
}
if (dev_handle == NULL) goto fail;
libusb_free_device_list(dev_list, 1);
dev_list = nullptr;
if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
libusb_detach_kernel_driver(dev_handle, 0);
}
err = libusb_set_configuration(dev_handle, 1);
if (err != 0) { goto fail; }
err = libusb_claim_interface(dev_handle, 0);
if (err != 0) { goto fail; }
return;
fail:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
cleanup();
throw std::runtime_error("Error connecting to panda");
}
PandaUsbHandle::~PandaUsbHandle() {
std::lock_guard lk(hw_lock);
cleanup();
connected = false;
}
void PandaUsbHandle::cleanup() {
if (dev_handle) {
libusb_release_interface(dev_handle, 0);
libusb_close(dev_handle);
}
if (ctx) {
libusb_exit(ctx);
}
}
std::vector<std::string> PandaUsbHandle::list() {
// init libusb
ssize_t num_devices;
libusb_context *context = NULL;
libusb_device **dev_list = NULL;
std::vector<std::string> serials;
int err = init_usb_ctx(&context);
if (err != 0) { return serials; }
num_devices = libusb_get_device_list(context, &dev_list);
if (num_devices < 0) {
LOGE("libusb can't get device list");
goto finish;
}
for (size_t i = 0; i < num_devices; ++i) {
libusb_device *device = dev_list[i];
libusb_device_descriptor desc;
libusb_get_device_descriptor(device, &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
libusb_device_handle *handle = NULL;
int ret = libusb_open(device, &handle);
if (ret < 0) { goto finish; }
unsigned char desc_serial[26] = { 0 };
ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
libusb_close(handle);
if (ret < 0) { goto finish; }
serials.push_back(std::string((char *)desc_serial, ret).c_str());
}
}
finish:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
if (context) {
libusb_exit(context);
}
return serials;
}
void PandaUsbHandle::handle_usb_issue(int err, const char func[]) {
LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
if (err == LIBUSB_ERROR_NO_DEVICE) {
LOGE("lost connection");
connected = false;
}
// TODO: check other errors, is simply retrying okay?
}
int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected) {
return LIBUSB_ERROR_NO_DEVICE;
}
std::lock_guard lk(hw_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
return err;
}
int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected) {
return LIBUSB_ERROR_NO_DEVICE;
}
std::lock_guard lk(hw_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
return err;
}
int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
if (!connected) {
return 0;
}
std::lock_guard lk(hw_lock);
do {
// Try sending can messages. If the receive buffer on the panda is full it will NAK
// and libusb will try again. After 5ms, it will time out. We will drop the messages.
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
LOGW("Transmit buffer full");
break;
} else if (err != 0 || length != transferred) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
return transferred;
}
int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
if (!connected) {
return 0;
}
std::lock_guard lk(hw_lock);
do {
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
break; // timeout is okay to exit, recv still happened
} else if (err == LIBUSB_ERROR_OVERFLOW) {
comms_healthy = false;
LOGE_100("overflow got 0x%x", transferred);
} else if (err != 0) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
return transferred;
}
selfdrive/boardd/panda_comms.h
+81
View File
@@ -0,0 +1,81 @@
#pragma once
#include <mutex>
#include <atomic>
#include <cstdint>
#include <vector>
#ifndef __APPLE__
#include <linux/spi/spidev.h>
#endif
#include <libusb-1.0/libusb.h>
#define TIMEOUT 0
#define SPI_BUF_SIZE 1024
// comms base class
class PandaCommsHandle {
public:
PandaCommsHandle(std::string serial) {};
virtual ~PandaCommsHandle() {};
virtual void cleanup() = 0;
std::string hw_serial;
std::atomic<bool> connected = true;
std::atomic<bool> comms_healthy = true;
static std::vector<std::string> list();
// HW communication
virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0;
virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
};
class PandaUsbHandle : public PandaCommsHandle {
public:
PandaUsbHandle(std::string serial);
~PandaUsbHandle();
int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
void cleanup();
static std::vector<std::string> list();
private:
libusb_context *ctx = NULL;
libusb_device_handle *dev_handle = NULL;
std::recursive_mutex hw_lock;
void handle_usb_issue(int err, const char func[]);
};
#ifndef __APPLE__
class PandaSpiHandle : public PandaCommsHandle {
public:
PandaSpiHandle(std::string serial);
~PandaSpiHandle();
int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
void cleanup();
static std::vector<std::string> list();
private:
int spi_fd = -1;
uint8_t tx_buf[SPI_BUF_SIZE];
uint8_t rx_buf[SPI_BUF_SIZE];
inline static std::recursive_mutex hw_lock;
int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len);
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
};
#endif
selfdrive/boardd/pandad.py
+5 -7
View File
@@ -7,7 +7,7 @@ import subprocess
from typing import List, NoReturn
from functools import cmp_to_key
from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
from panda import Panda, PandaDFU
from common.basedir import BASEDIR
from common.params import Params
from system.hardware import HARDWARE
@@ -15,10 +15,8 @@ from system.swaglog import cloudlog
def get_expected_signature(panda: Panda) -> bytes:
fn = DEFAULT_H7_FW_FN if (panda.get_mcu_type() == MCU_TYPE_H7) else DEFAULT_FW_FN
try:
return Panda.get_signature_from_firmware(fn)
return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path)
except Exception:
cloudlog.exception("Error computing expected signature")
return b""
@@ -86,9 +84,9 @@ def main() -> NoReturn:
params.remove("PandaSignatures")
# Flash all Pandas in DFU mode
for p in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
PandaDFU(p).recover()
for serial in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
PandaDFU(serial).recover()
time.sleep(1)
panda_serials = Panda.list()
selfdrive/boardd/spi.cc
+346
View File
@@ -0,0 +1,346 @@
#ifndef __APPLE__
#include <sys/file.h>
#include <sys/ioctl.h>
#include <linux/spi/spidev.h>
#include <cassert>
#include <cmath>
#include <cstring>
#include <iomanip>
#include <sstream>
#include "common/util.h"
#include "common/timing.h"
#include "common/swaglog.h"
#include "panda/board/comms_definitions.h"
#include "selfdrive/boardd/panda_comms.h"
#define SPI_SYNC 0x5AU
#define SPI_HACK 0x79U
#define SPI_DACK 0x85U
#define SPI_NACK 0x1FU
#define SPI_CHECKSUM_START 0xABU
struct __attribute__((packed)) spi_header {
uint8_t sync;
uint8_t endpoint;
uint16_t tx_len;
uint16_t max_rx_len;
};
const int SPI_MAX_RETRIES = 5;
const int SPI_ACK_TIMEOUT = 50; // milliseconds
const std::string SPI_DEVICE = "/dev/spidev0.0";
class LockEx {
public:
LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) {
m.lock();
flock(fd, LOCK_EX);
};
~LockEx() {
m.unlock();
flock(fd, LOCK_UN);
}
private:
int fd;
std::recursive_mutex &m;
};
PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
int ret;
const int uid_len = 12;
uint8_t uid[uid_len] = {0};
uint32_t spi_mode = SPI_MODE_0;
uint32_t spi_speed = 30000000;
uint8_t spi_bits_per_word = 8;
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd);
goto fail;
}
// SPI settings
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
if (ret < 0) {
LOGE("failed setting SPI mode %d", ret);
goto fail;
}
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
if (ret < 0) {
LOGE("failed setting SPI speed");
goto fail;
}
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
if (ret < 0) {
LOGE("failed setting SPI bits per word");
goto fail;
}
// get hw UID/serial
ret = control_read(0xc3, 0, 0, uid, uid_len);
if (ret == uid_len) {
std::stringstream stream;
for (int i = 0; i < uid_len; i++) {
stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
}
hw_serial = stream.str();
} else {
LOGD("failed to get serial %d", ret);
goto fail;
}
if (!serial.empty() && (serial != hw_serial)) {
goto fail;
}
return;
fail:
cleanup();
throw std::runtime_error("Error connecting to panda");
}
PandaSpiHandle::~PandaSpiHandle() {
std::lock_guard lk(hw_lock);
cleanup();
}
void PandaSpiHandle::cleanup() {
if (spi_fd != -1) {
close(spi_fd);
spi_fd = -1;
}
}
int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) {
LockEx lock(spi_fd, hw_lock);
ControlPacket_t packet = {
.request = request,
.param1 = param1,
.param2 = param2,
.length = 0
};
return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0);
}
int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) {
LockEx lock(spi_fd, hw_lock);
ControlPacket_t packet = {
.request = request,
.param1 = param1,
.param2 = param2,
.length = length
};
return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length);
}
int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
LockEx lock(spi_fd, hw_lock);
return bulk_transfer(endpoint, data, length, NULL, 0);
}
int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
LockEx lock(spi_fd, hw_lock);
return bulk_transfer(endpoint, NULL, 0, data, length);
}
int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
const int xfer_size = 0x40 * 15;
int ret = 0;
uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
for (int i = 0; i < (int)std::ceil((float)length / xfer_size); i++) {
int d;
if (tx_data != NULL) {
int len = std::min(xfer_size, tx_len - (xfer_size * i));
d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0);
} else {
uint16_t to_read = std::min(xfer_size, rx_len - ret);
d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read);
}
if (d < 0) {
LOGE("SPI: bulk transfer failed with %d", d);
comms_healthy = false;
return -1;
}
ret += d;
if ((rx_data != NULL) && d < xfer_size) {
break;
}
}
return ret;
}
std::vector<std::string> PandaSpiHandle::list() {
try {
PandaSpiHandle sh("");
return {sh.hw_serial};
} catch (std::exception &e) {
// no panda on SPI
}
return {};
}
void add_checksum(uint8_t *data, int data_len) {
data[data_len] = SPI_CHECKSUM_START;
for (int i=0; i < data_len; i++) {
data[data_len] ^= data[i];
}
}
bool check_checksum(uint8_t *data, int data_len) {
uint8_t checksum = SPI_CHECKSUM_START;
for (uint16_t i = 0U; i < data_len; i++) {
checksum ^= data[i];
}
return checksum == 0U;
}
int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
int ret;
int count = SPI_MAX_RETRIES;
do {
// TODO: handle error
ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
count--;
} while (ret < 0 && connected && count > 0);
return ret;
}
int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
double start_millis = millis_since_boot();
while (true) {
int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
if (ret < 0) {
LOGE("SPI: failed to send ACK request");
return ret;
}
if (rx_buf[0] == ack) {
break;
} else if (rx_buf[0] == SPI_NACK) {
LOGW("SPI: got NACK");
return -1;
}
// handle timeout
if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
LOGD("SPI: timed out waiting for ACK");
return -1;
}
}
return 0;
}
int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
int ret;
uint16_t rx_data_len;
// needs to be less, since we need to have space for the checksum
assert(tx_len < SPI_BUF_SIZE);
assert(max_rx_len < SPI_BUF_SIZE);
spi_header header = {
.sync = SPI_SYNC,
.endpoint = endpoint,
.tx_len = tx_len,
.max_rx_len = max_rx_len
};
spi_ioc_transfer transfer = {
.tx_buf = (uint64_t)tx_buf,
.rx_buf = (uint64_t)rx_buf
};
// Send header
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);
if (ret < 0) {
LOGE("SPI: failed to send header");
goto transfer_fail;
}
// Wait for (N)ACK
tx_buf[0] = 0x12;
transfer.len = 1;
ret = wait_for_ack(transfer, SPI_HACK);
if (ret < 0) {
goto transfer_fail;
}
// Send data
if (tx_data != NULL) {
memcpy(tx_buf, tx_data, tx_len);
}
add_checksum(tx_buf, tx_len);
transfer.len = tx_len + 1;
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
if (ret < 0) {
LOGE("SPI: failed to send data");
goto transfer_fail;
}
// Wait for (N)ACK
tx_buf[0] = 0xab;
transfer.len = 1;
ret = wait_for_ack(transfer, SPI_DACK);
if (ret < 0) {
goto transfer_fail;
}
// Read data len
transfer.len = 2;
transfer.rx_buf = (uint64_t)(rx_buf + 1);
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
if (ret < 0) {
LOGE("SPI: failed to read rx data len");
goto transfer_fail;
}
rx_data_len = *(uint16_t *)(rx_buf+1);
if (rx_data_len >= SPI_BUF_SIZE) {
LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
goto transfer_fail;
}
// Read data
transfer.len = rx_data_len + 1;
transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
if (ret < 0) {
LOGE("SPI: failed to read rx data");
goto transfer_fail;
}
if (!check_checksum(rx_buf, rx_data_len + 4)) {
LOGE("SPI: bad checksum");
goto transfer_fail;
}
if (rx_data != NULL) {
memcpy(rx_data, rx_buf + 3, rx_data_len);
}
return rx_data_len;
transfer_fail:
return ret;
}
#endif
selfdrive/boardd/tests/test_boardd_loopback.py
+1 -1
View File
@@ -51,7 +51,7 @@ class TestBoardd(unittest.TestCase):
cp.safetyConfigs = [safety_config]*num_pandas
params = Params()
params.put("CarVin", b"0"*17)
params.put_bool("FirmwareQueryDone", True)
params.put_bool("ControlsReady", True)
params.put("CarParams", cp.to_bytes())
selfdrive/boardd/tests/test_boardd_usbprotocol.cc
+30 -18
View File
@@ -6,8 +6,6 @@
#include "cereal/messaging/messaging.h"
#include "selfdrive/boardd/panda.h"
const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
int random_int(int min, int max) {
std::random_device dev;
std::mt19937 rng(dev());
@@ -18,7 +16,8 @@ int random_int(int min, int max) {
struct PandaTest : public Panda {
PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);
void test_can_send();
void test_can_recv();
void test_can_recv(uint32_t chunk_size = 0);
void test_chunked_can_recv();
std::map<int, std::string> test_data;
int can_list_size = 0;
@@ -50,7 +49,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
can.setAddress(i);
can.setSrc(random_int(0, 3) + bus_offset);
can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
total_pakets_size += CANPACKET_HEAD_SIZE + dat.size();
total_pakets_size += sizeof(can_header) + dat.size();
}
can_data_list = can_list.asReader();
@@ -60,14 +59,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
void PandaTest::test_can_send() {
std::vector<uint8_t> unpacked_data;
this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
int size_left = size;
for (int i = 0, counter = 0; i < size; i += USBPACKET_MAX_SIZE, counter++) {
REQUIRE(chunk[i] == counter);
const int len = std::min(USBPACKET_MAX_SIZE, size_left);
unpacked_data.insert(unpacked_data.end(), &chunk[i + 1], &chunk[i + len]);
size_left -= len;
}
unpacked_data.insert(unpacked_data.end(), chunk, &chunk[size]);
});
REQUIRE(unpacked_data.size() == total_pakets_size);
@@ -75,23 +67,37 @@ void PandaTest::test_can_send() {
INFO("test can message integrity");
for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) {
can_header header;
memcpy(&header, &unpacked_data[pos], CANPACKET_HEAD_SIZE);
memcpy(&header, &unpacked_data[pos], sizeof(can_header));
const uint8_t data_len = dlc_to_len[header.data_len_code];
pckt_len = CANPACKET_HEAD_SIZE + data_len;
pckt_len = sizeof(can_header) + data_len;
REQUIRE(header.addr == cnt);
REQUIRE(test_data.find(data_len) != test_data.end());
const std::string &dat = test_data[data_len];
REQUIRE(memcmp(dat.data(), &unpacked_data[pos + 5], dat.size()) == 0);
REQUIRE(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0);
++cnt;
}
REQUIRE(cnt == can_list_size);
}
void PandaTest::test_can_recv() {
void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
std::vector<can_frame> frames;
this->pack_can_buffer(can_data_list, [&](uint8_t *data, size_t size) {
this->unpack_can_buffer(data, size, frames);
this->pack_can_buffer(can_data_list, [&](uint8_t *data, uint32_t size) {
if (rx_chunk_size == 0) {
REQUIRE(this->unpack_can_buffer(data, size, frames));
} else {
this->receive_buffer_size = 0;
uint32_t pos = 0;
while(pos < size) {
uint32_t chunk_size = std::min(rx_chunk_size, size - pos);
memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size);
this->receive_buffer_size += chunk_size;
pos += chunk_size;
REQUIRE(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames));
}
}
});
REQUIRE(frames.size() == can_list_size);
@@ -114,6 +120,9 @@ TEST_CASE("send/recv CAN 2.0 packets") {
SECTION("can_receive") {
test.test_can_recv();
}
SECTION("chunked_can_receive") {
test.test_can_recv(0x40);
}
}
TEST_CASE("send/recv CAN FD packets") {
@@ -127,4 +136,7 @@ TEST_CASE("send/recv CAN FD packets") {
SECTION("can_receive") {
test.test_can_recv();
}
SECTION("chunked_can_receive") {
test.test_can_recv(0x40);
}
}
selfdrive/boardd/tests/test_pandad.py
Executable
+48
View File
@@ -0,0 +1,48 @@
#!/usr/bin/env python3
import time
import unittest
import cereal.messaging as messaging
from panda import Panda
from selfdrive.test.helpers import phone_only
from selfdrive.manager.process_config import managed_processes
from system.hardware import HARDWARE
class TestPandad(unittest.TestCase):
def tearDown(self):
managed_processes['pandad'].stop()
def _wait_for_boardd(self):
sm = messaging.SubMaster(['peripheralState'])
for _ in range(30):
sm.update(1000)
if sm.updated['peripheralState']:
break
if not sm.updated['peripheralState']:
raise Exception("boardd failed to start")
@phone_only
def test_in_dfu(self):
HARDWARE.recover_internal_panda()
time.sleep(1)
managed_processes['pandad'].start()
self._wait_for_boardd()
@phone_only
def test_in_bootstub(self):
with Panda() as p:
p.reset(enter_bootstub=True)
assert p.bootstub
managed_processes['pandad'].start()
self._wait_for_boardd()
#def test_out_of_date_fw(self):
# pass
if __name__ == "__main__":
unittest.main()
selfdrive/car/CARS_template.md
+2 -1
View File
@@ -1,5 +1,6 @@
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%}
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' -%}
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
@@ -12,7 +13,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|{{Column | map(attribute='value') | join('|')}}|
|---|---|---|{% 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, footnote_tag)}}|{% endfor %}
|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
{% endfor %}
selfdrive/car/__init__.py
+35 -16
View File
@@ -1,8 +1,9 @@
# functions common among cars
import capnp
from collections import namedtuple
from cereal import car
from common.numpy_fast import clip
from common.numpy_fast import clip, interp
from typing import Dict
# kg of standard extra cargo to count for drive, gas, etc...
@@ -10,6 +11,7 @@ STD_CARGO_KG = 136.
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
@@ -71,7 +73,7 @@ def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, st
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
# limits due to driver torque
driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
@@ -91,24 +93,41 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
return int(round(float(apply_torque)))
def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
# limits due to comparison of commanded torque VS motor reported torque
max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX)
min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX)
def apply_dist_to_meas_limits(val, val_last, val_meas,
STEER_DELTA_UP, STEER_DELTA_DOWN,
STEER_ERROR_MAX, STEER_MAX):
# limits due to comparison of commanded val VS measured val (torque/angle/curvature)
max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
apply_torque = clip(apply_torque, min_lim, max_lim)
val = clip(val, min_lim, max_lim)
# slow rate if steer torque increases in magnitude
if apply_torque_last > 0:
apply_torque = clip(apply_torque,
max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
apply_torque_last + LIMITS.STEER_DELTA_UP)
# slow rate if val increases in magnitude
if val_last > 0:
val = clip(val,
max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
val_last + STEER_DELTA_UP)
else:
apply_torque = clip(apply_torque,
apply_torque_last - LIMITS.STEER_DELTA_UP,
min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
val = clip(val,
val_last - STEER_DELTA_UP,
min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
return int(round(float(apply_torque)))
return float(val)
def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
# pick angle rate limits based on wind up/down
steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
def crc8_pedal(data):
selfdrive/car/body/carcontroller.py
+2 -1
View File
@@ -35,7 +35,7 @@ class CarController:
torque -= deadband
return torque
def update(self, CC, CS):
def update(self, CC, CS, now_nanos):
torque_l = 0
torque_r = 0
@@ -85,6 +85,7 @@ class CarController:
new_actuators = CC.actuators.copy()
new_actuators.accel = torque_l
new_actuators.steer = torque_r
new_actuators.steerOutputCan = torque_r
self.frame += 1
return new_actuators, can_sends
selfdrive/car/body/interface.py
+5 -12
View File
@@ -2,16 +2,13 @@
import math
from cereal import car
from common.realtime import DT_CTRL
from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.body.values import SPEED_FROM_RPM
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.notCar = True
ret.carName = "body"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
@@ -27,14 +24,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = SPEED_FROM_RPM
ret.centerToFront = ret.wheelbase * 0.44
ret.radarOffCan = True
ret.radarUnavailable = True
ret.openpilotLongitudinalControl = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def _update(self, c):
@@ -50,5 +43,5 @@ class CarInterface(CarInterfaceBase):
return ret
def apply(self, c):
return self.CC.update(c, self.CS)
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/body/values.py
+14 -2
View File
@@ -17,6 +17,9 @@ class CarControllerParams:
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
def __init__(self, CP):
pass
class CAR:
BODY = "COMMA BODY"
@@ -26,6 +29,12 @@ CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY: CarInfo("comma body", package="All"),
}
FINGERPRINTS = {
CAR.BODY: [{
513: 8, 516: 8, 514: 3, 515: 4,
}],
}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
@@ -40,10 +49,13 @@ FW_VERSIONS = {
CAR.BODY: {
(Ecu.engine, 0x720, None): [
b'0.0.01',
b'02/27/2022'
b'02/27/2022',
b'0.3.00a',
],
# git hash of the firmware used
(Ecu.debug, 0x721, None): [
b'166bd860' # git hash of the firmware used
b'166bd860',
b'dc780f85',
],
},
}
selfdrive/car/car_helpers.py
+13 -9
View File
@@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
from selfdrive.car.interfaces import get_interface_attr
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
from system.swaglog import cloudlog
import cereal.messaging as messaging
from selfdrive.car import gen_empty_fingerprint
@@ -80,12 +80,13 @@ def fingerprint(logcan, sendcan, num_pandas):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
ecu_rx_addrs = set()
params = Params()
if not skip_fw_query:
# Vin query only reliably works through OBDII
bus = 1
cached_params = Params().get("CarParamsCache")
cached_params = params.get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
@@ -98,8 +99,9 @@ def fingerprint(logcan, sendcan, num_pandas):
cached = True
else:
cloudlog.warning("Getting VIN & FW versions")
set_obd_multiplexing(params, True)
vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
ecu_rx_addrs = get_present_ecus(logcan, sendcan)
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)
cached = False
@@ -113,7 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas):
cloudlog.event("Malformed VIN", vin=vin, error=True)
vin = VIN_UNKNOWN
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
params.put("CarVin", vin)
# disable OBD multiplexing for potential ECU knockouts
set_obd_multiplexing(params, False)
params.put_bool("FirmwareQueryDone", True)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
@@ -173,17 +179,15 @@ def fingerprint(logcan, sendcan, num_pandas):
return car_fingerprint, finger, vin, car_fw, source, exact_match
def get_car(logcan, sendcan, num_pandas=1):
def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
if candidate is None:
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
candidate = "mock"
experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled")
CarInterface, CarController, CarState = interfaces[candidate]
CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long)
CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed)
CP.carVin = vin
CP.carFw = car_fw
CP.fingerprintSource = source
selfdrive/car/chrysler/carcontroller.py
+7 -6
View File
@@ -1,8 +1,8 @@
from opendbc.can.packer import CANPacker
from common.realtime import DT_CTRL
from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car import apply_meas_steer_torque_limits
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
class CarController:
@@ -19,7 +19,7 @@ class CarController:
self.packer = CANPacker(dbc_name)
self.params = CarControllerParams(CP)
def update(self, CC, CS):
def update(self, CC, CS, now_nanos):
can_sends = []
lkas_active = CC.latActive and self.lkas_control_bit_prev
@@ -45,13 +45,13 @@ class CarController:
self.hud_count += 1
# steering
if self.frame % 2 == 0:
if self.frame % self.params.STEER_STEP == 0:
# TODO: can we make this more sane? why is it different for all the cars?
lkas_control_bit = self.lkas_control_bit_prev
if CS.out.vEgo > self.CP.minSteerSpeed:
lkas_control_bit = True
elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
lkas_control_bit = False
elif self.CP.carFingerprint in RAM_CARS:
@@ -67,7 +67,7 @@ class CarController:
# steer torque
new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
if not lkas_active or not lkas_control_bit:
apply_steer = 0
self.apply_steer_last = apply_steer
@@ -78,5 +78,6 @@ class CarController:
new_actuators = CC.actuators.copy()
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last
return new_actuators, can_sends
selfdrive/car/chrysler/carstate.py
+3 -1
View File
@@ -81,8 +81,9 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in RAM_CARS:
self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
else:
ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
# blindspot sensors
@@ -135,6 +136,7 @@ class CarState(CarStateBase):
("COUNTER", "EPS_2",),
("COLUMN_TORQUE", "EPS_2"),
("EPS_TORQUE_MOTOR", "EPS_2"),
("LKAS_TEMPORARY_FAULT", "EPS_2"),
("LKAS_STATE", "EPS_2"),
("COUNTER", "CRUISE_BUTTONS"),
]
selfdrive/car/chrysler/interface.py
+25 -25
View File
@@ -1,21 +1,19 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "chrysler"
ret.dashcamOnly = candidate in RAM_HD
ret.radarOffCan = DBC[candidate]['radar'] is None
# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
ret.radarUnavailable = True # DBC[candidate]['radar'] is None
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
@@ -27,15 +25,21 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
ret.minSteerSpeed = 3.8 # m/s
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
# TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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_CHEROKEE_2019)
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):
ret.mass = 2242. + STD_CARGO_KG
ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
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]]
ret.lateralTuning.pid.kf = 0.00006
@@ -46,6 +50,8 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.steerActuatorDelay = 0.2
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]]
ret.lateralTuning.pid.kf = 0.00006
@@ -56,12 +62,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.88
ret.steerRatio = 16.3
ret.mass = 2493. + STD_CARGO_KG
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.minSteerSpeed = 14.5
if car_fw is not None:
for fw in car_fw:
if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"):
ret.minSteerSpeed = 0.
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD:
ret.steerActuatorDelay = 0.2
@@ -74,15 +78,11 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError(f"Unsupported car: {candidate}")
if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
# TODO: allow these cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
ret.centerToFront = ret.wheelbase * 0.44
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableBsm = 720 in fingerprint[0]
return ret
@@ -105,5 +105,5 @@ class CarInterface(CarInterfaceBase):
return ret
def apply(self, c):
return self.CC.update(c, self.CS)
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/chrysler/radar_interface.py
+2 -1
View File
@@ -45,12 +45,13 @@ def _address_to_track(address):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.CP = CP
self.rcp = _create_radar_can_parser(CP.carFingerprint)
self.updated_messages = set()
self.trigger_msg = LAST_MSG
def update(self, can_strings):
if self.rcp is None:
if self.rcp is None or self.CP.radarUnavailable:
return super().update(None)
vls = self.rcp.update_strings(can_strings)
selfdrive/car/chrysler/values.py
+128 -38
View File
@@ -1,3 +1,4 @@
from enum import IntFlag
from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Optional, Union
@@ -11,6 +12,10 @@ from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu
class ChryslerFlags(IntFlag):
HIGHER_MIN_STEERING_SPEED = 1
class CAR:
# Chrysler
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
@@ -30,6 +35,7 @@ class CAR:
class CarControllerParams:
def __init__(self, CP):
self.STEER_STEP = 2 # 50 Hz
self.STEER_ERROR_MAX = 80
if CP.carFingerprint in RAM_HD:
self.STEER_DELTA_UP = 14
@@ -44,17 +50,20 @@ class CarControllerParams:
self.STEER_DELTA_DOWN = 3
self.STEER_MAX = 261 # higher than this faults the EPS
STEER_THRESHOLD = 120
RAM_DT = {CAR.RAM_1500, }
RAM_HD = {CAR.RAM_HD, }
RAM_CARS = RAM_DT | RAM_HD
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
harness: Enum = Harness.fca
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
CAR.PACIFICA_2018_HYBRID: None, # same platforms
@@ -66,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
],
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram),
CAR.RAM_HD: [
ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram),
],
}
@@ -86,13 +95,13 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
FINGERPRINTS = {
CAR.PACIFICA_2017_HYBRID: [{
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788:3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
}],
CAR.PACIFICA_2018: [{
55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
},
{
55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
}],
CAR.PACIFICA_2020: [{
55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
@@ -128,7 +137,7 @@ FINGERPRINTS = {
}],
CAR.JEEP_CHEROKEE_2019: [{
# Jeep Grand Cherokee 2019, including most 2020 models
55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
}
@@ -173,78 +182,153 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
FW_VERSIONS = {
CAR.RAM_1500: {
CAR.JEEP_CHEROKEE_2019: {
(Ecu.combinationMeter, 0x742, None): [
b'68294063AH',
b'68294063AG',
b'68434860AC',
b'68527375AD',
b'68453503AC',
b'68402971AD',
],
(Ecu.srs, 0x744, None): [
b'68441329AB',
b'68490898AA',
b'68428609AB',
b'68500728AA',
b'68355363AB',
],
(Ecu.abs, 0x747, None): [
b'68432418AD',
b'68432418AB',
b'68436004AE',
b'68438454AD',
b'68436004AD',
b'68535469AB',
b'68438454AC',
b'68408639AD',
],
(Ecu.fwdRadar, 0x753, None): [
b'68320950AL',
b'68320950AJ',
b'68454268AB',
b'68475160AG',
b'04672892AB',
b'68475160AE',
b'68456722AC',
],
(Ecu.eps, 0x75A, None): [
b'68273275AG',
b'68469901AA',
b'68552788AA',
b'68453431AA',
],
(Ecu.engine, 0x7e0, None): [
b'68448163AJ',
b'68500630AD',
b'68539650AD',
b'05035674AB ',
],
(Ecu.transmission, 0x7e1, None): [
b'05035707AA',
],
},
CAR.RAM_1500: {
(Ecu.combinationMeter, 0x742, None): [
b'68294051AG',
b'68294051AI',
b'68294052AG',
b'68294063AG',
b'68294063AH',
b'68294063AI',
b'68434846AC',
b'68434858AC',
b'68434860AC',
b'68453503AC',
b'68453505AC',
b'68453511AC',
b'68453513AD',
b'68453514AD',
b'68510283AG',
b'68527375AD',
],
(Ecu.srs, 0x744, None): [
b'68428609AB',
b'68441329AB',
b'68473844AB',
b'68490898AA',
b'68500728AA',
b'68615033AA',
],
(Ecu.abs, 0x747, None): [
b'68292406AH',
b'68432418AB',
b'68432418AD',
b'68436004AD',
b'68436004AE',
b'68438454AC',
b'68438454AD',
b'68438456AE',
b'68438456AF',
b'68535469AB',
b'68535470AC',
b'68586307AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672892AB',
b'04672932AB',
b'68320950AH',
b'68320950AI',
b'68320950AJ',
b'68320950AL',
b'68320950AM',
b'68454268AB',
b'68475160AE',
b'68475160AF',
b'68475160AG',
],
(Ecu.eps, 0x75A, None): [
b'68273275AF',
b'68273275AG',
b'68312176AE',
b'68312176AG',
b'68440789AC',
b'68466110AB',
b'68469901AA',
b'68522583AB',
b'68522585AB',
b'68552788AA',
b'68552790AA',
b'68585112AB',
],
(Ecu.engine, 0x7e0, None): [
b'05036065AE ',
b'05036066AE ',
b'68378701AI ',
b'68378758AM ',
b'68448163AJ',
b'68448165AK',
b'68500630AD',
b'68500630AE',
b'68539650AD',
],
(Ecu.transmission, 0x7e1, None): [
b'68360078AL',
b'68384328AD',
b'68360085AL',
b'68360080AM',
b'68360081AM',
b'68502994AD',
b'68360085AL',
b'68384328AD',
b'68384332AD',
b'68445533AB',
b'68540431AB',
b'68484467AC',
b'68502994AD',
b'68540431AB',
],
},
CAR.RAM_HD: {
(Ecu.combinationMeter, 0x742, None): [
b'68361606AH',
b'68437735AC',
b'68492693AD',
b'68525485AB',
b'68525487AB',
b'68525498AB',
],
(Ecu.srs, 0x744, None): [
b'68399794AC',
b'68428503AA',
b'68428505AA',
b'68428507AA',
],
(Ecu.abs, 0x747, None): [
b'68334977AH',
b'68455481AC',
b'68504022AA',
b'68504022AB',
b'68504022AC',
b'68530686AB',
b'68530686AC',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672895AB',
b'56029827AG',
b'56029827AH',
b'68462657AE',
b'68484694AD',
b'68484694AE',
],
(Ecu.eps, 0x761, None): [
@@ -252,7 +336,13 @@ FW_VERSIONS = {
b'68507906AB',
],
(Ecu.engine, 0x7e0, None): [
b'52370131AF',
b'52370231AF',
b'52370231AG',
b'52370931CT',
b'52401032AE',
b'52421132AF',
b'68527616AD ',
b'M2370131MB',
b'M2421132MB',
],
selfdrive/car/docs.py
+5 -3
View File
@@ -7,14 +7,15 @@ from enum import Enum
from natsort import natsorted
from typing import Dict, List
from cereal import car
from common.basedir import BASEDIR
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car.docs_definitions import CarInfo, Column
from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote
from selfdrive.car.car_helpers import interfaces, get_interface_attr
def get_all_footnotes() -> Dict[Enum, int]:
all_footnotes = []
all_footnotes = list(CommonFootnote)
for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
all_footnotes.extend(footnotes)
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
@@ -28,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), experimental_long=True)
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
if CP.dashcamOnly or car_info is None:
continue
@@ -39,6 +40,7 @@ def get_all_car_info() -> List[CarInfo]:
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)
selfdrive/car/docs_definitions.py
+50 -7
View File
@@ -21,6 +21,7 @@ class Column(Enum):
STEERING_TORQUE = "Steering Torque"
AUTO_RESUME = "Resume from stop"
HARNESS = "Harness"
VIDEO = "Video"
class Star(Enum):
@@ -68,7 +69,17 @@ class Harness(Enum):
none = "None"
CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None])
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
class CommonFootnote(Enum):
EXP_LONG_AVAIL = CarFootnote(
"Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
Column.LONGITUDINAL, docs_only=True)
EXP_LONG_DSU = CarFootnote(
"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>",
Column.LONGITUDINAL)
def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
@@ -115,6 +126,22 @@ class CarInfo:
harness: Enum = Harness.none
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
self.car_name = CP.carName
self.car_fingerprint = CP.carFingerprint
self.make, self.model, self.years = split_name(self.name)
# longitudinal column
op_long = "Stock"
if CP.openpilotLongitudinalControl and not CP.enableDsu:
op_long = "openpilot"
elif CP.experimentalLongitudinalAvailable or CP.enableDsu:
op_long = "openpilot available"
if CP.enableDsu:
self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
else:
self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
# 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"
@@ -125,19 +152,23 @@ class CarInfo:
if self.min_enable_speed is None:
self.min_enable_speed = CP.minEnableSpeed
self.car_name = CP.carName
self.car_fingerprint = CP.carFingerprint
self.make, self.model, self.years = split_name(self.name)
# harness column
harness_col = self.harness.value
if self.harness is not Harness.none:
model_years = self.model + (' ' + self.years if self.years else '')
harness_col = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col}</a>'
self.row = {
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable else "Stock",
Column.LONGITUDINAL: op_long,
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,
Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
Column.HARNESS: self.harness.value,
Column.HARNESS: harness_col,
Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column
}
# Set steering torque star from max lateral acceleration
@@ -151,6 +182,9 @@ class CarInfo:
return self
def init_make(self, CP: car.CarParams):
"""CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
def get_detail_sentence(self, CP):
if not CP.notCar:
sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
@@ -170,6 +204,13 @@ class CarInfo:
if self.row[Column.STEERING_TORQUE] != Star.FULL:
sentence_builder += " This car may not be able to take tight turns on its own."
# 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:
sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
else:
sentence_builder += f" {exp_link}, with traffic light and stop sign handling, is not currently available for this car, but may be added in a future software update."
return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
else:
@@ -178,12 +219,14 @@ class CarInfo:
else:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
item: Union[str, Star] = self.row[column]
if isinstance(item, Star):
item = star_icon.format(item.value)
elif column == Column.MODEL and len(self.years):
item += f" {self.years}"
elif column == Column.VIDEO and len(item) > 0:
item = video_icon.format(item)
footnotes = get_footnotes(self.footnotes, column)
if len(footnotes):
selfdrive/car/ecu_addrs.py
+8 -6
View File
@@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg
from selfdrive.boardd.boardd import can_list_to_can_capnp
from system.swaglog import cloudlog
EcuAddrBusType = Tuple[int, Optional[int], int]
def make_tester_present_msg(addr, bus, subaddr=None):
dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
@@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
return False
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]:
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list}
queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
responses = queries
return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]],
responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]:
ecu_responses: Set[Tuple[int, Optional[int], int]] = set() # set((addr, subaddr, bus),)
def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
try:
msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
@@ -87,5 +89,5 @@ if __name__ == "__main__":
for addr, subaddr, bus in ecu_addrs:
msg = f" 0x{hex(addr)}"
if subaddr is not None:
msg += f" (sub-address: 0x{hex(subaddr)})"
msg += f" (sub-address: {hex(subaddr)})"
print(msg)
selfdrive/car/ford/carcontroller.py
+45 -56
View File
@@ -1,28 +1,14 @@
import math
from cereal import car
from common.numpy_fast import clip, interp
from common.numpy_fast import clip
from opendbc.can.packer import CANPacker
from selfdrive.car.ford import fordcan
from selfdrive.car.ford.values import CANBUS, CarControllerParams
from selfdrive.car import apply_std_steer_angle_limits
from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
VisualAlert = car.CarControl.HUDControl.VisualAlert
def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo):
# rate limit
steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff))
# absolute limit (LatCtlPath_An_Actl)
apply_path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO
apply_path_angle = clip(apply_path_angle, -0.5, 0.5235)
apply_angle = math.degrees(apply_path_angle) * CarControllerParams.LKAS_STEER_RATIO
return apply_angle
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
@@ -30,12 +16,12 @@ class CarController:
self.packer = CANPacker(dbc_name)
self.frame = 0
self.apply_angle_last = 0
self.apply_curvature_last = 0
self.main_on_last = False
self.lkas_enabled_last = False
self.steer_alert_last = False
def update(self, CC, CS):
def update(self, CC, CS, now_nanos):
can_sends = []
actuators = CC.actuators
@@ -46,66 +32,69 @@ class CarController:
### acc buttons ###
if CC.cruiseControl.cancel:
can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True))
can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True))
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True))
can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True))
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
# if stock lane centering isn't off, send a button press to toggle it off
# the stock system checks for steering pressed, and eventually disengages cruise control
elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True))
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
### lateral control ###
if CC.latActive:
lca_rq = 1
apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo)
else:
lca_rq = 0
apply_angle = 0.
# send steering commands at 20Hz
if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
# use LatCtlPath_An_Actl to actuate steering
path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO
# set slower ramp type when small steering angle change
# 0=Slow, 1=Medium, 2=Fast, 3=Immediately
steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg)
if steer_change < 2.0:
ramp_type = 0
elif steer_change < 4.0:
ramp_type = 1
elif steer_change < 6.0:
ramp_type = 2
if (self.frame % CarControllerParams.STEER_STEP) == 0:
if CC.latActive:
# apply limits to curvature and clip to signal range
apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams)
apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
else:
ramp_type = 3
precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable)
apply_curvature = 0.
self.apply_angle_last = apply_angle
can_sends.append(fordcan.create_lka_command(self.packer, 0, 0))
can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
0, path_angle, 0, 0))
self.apply_curvature_last = apply_curvature
can_sends.append(create_lka_msg(self.packer))
if self.CP.carFingerprint in CANFD_CARS:
# TODO: extended mode
mode = 1 if CC.latActive else 0
counter = self.frame // CarControllerParams.STEER_STEP
can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
else:
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
### longitudinal control ###
# send acc command at 50Hz
if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
precharge_brake = accel < -0.1
if accel > -0.5:
gas = accel
decel = False
else:
gas = -5.0
decel = True
can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
# send lkas ui command 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_command(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
# send acc ui command at 20Hz or if ui state changes
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, 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
new_actuators = actuators.copy()
new_actuators.steeringAngleDeg = self.apply_angle_last
new_actuators.curvature = self.apply_curvature_last
self.frame += 1
return new_actuators, can_sends
selfdrive/car/ford/carstate.py
+5 -5
View File
@@ -14,7 +14,7 @@ class CarState(CarStateBase):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"]
self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
@@ -37,7 +37,7 @@ class CarState(CarStateBase):
# steering wheel
ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
# ret.espDisabled = False # TODO: find traction control signal
@@ -51,7 +51,7 @@ class CarState(CarStateBase):
# gear
if self.CP.transmissionType == TransmissionType.automatic:
gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None)
gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
ret.gearShifter = self.parse_gear_shifter(gear)
elif self.CP.transmissionType == TransmissionType.manual:
ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -118,7 +118,7 @@ class CarState(CarStateBase):
("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left
("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right
("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver
("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthru the remaining buttons
("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthrough the remaining buttons
("WiprFront_D_Stat", "Steering_Data_FD1"),
("LghtAmb_D_Sns", "Steering_Data_FD1"),
("AccButtnGapDecPress", "Steering_Data_FD1"),
@@ -171,7 +171,7 @@ class CarState(CarStateBase):
if CP.transmissionType == TransmissionType.automatic:
signals += [
("TrnGear_D_RqDrv", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position
("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position
]
checks += [
("Gear_Shift_by_Wire_FD1", 10),
selfdrive/car/ford/fordcan.py
+96 -40
View File
@@ -4,64 +4,120 @@ from selfdrive.car.ford.values import CANBUS
HUDControl = car.CarControl.HUDControl
def create_lka_command(packer, angle_deg: float, curvature: float):
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
checksum = mode + counter
checksum += dat[2] + ((dat[3] & 0xE0) >> 5) # curvature
checksum += dat[6] + ((dat[7] & 0xE0) >> 5) # curvature rate
checksum += (dat[3] & 0x1F) + ((dat[4] & 0xFC) >> 2) # path angle
checksum += (dat[4] & 0x3) + dat[5] # path offset
return 0xFF - (checksum & 0xFF)
def create_lka_msg(packer):
"""
Creates a CAN message for the Ford LKAS Command.
Creates an empty CAN message for the Ford LKA Command.
This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout.
Frequency is 20Hz.
"""
values = {
"LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3]
"LkaActvStats_D2_Req": 0, # action [0|7]
"LaRefAng_No_Req": angle_deg, # angle [-102.4|102.3] degrees
"LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick
"LaCurvature_No_Calc": curvature, # curvature [-0.01024|0.01023] 1/meter
"LdwActvStats_D_Req": 0, # LDW status [0|7]
"LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength
}
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values)
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature_rate: float, curvature: float):
def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
curvature_rate: float):
"""
Creates a CAN message for the Ford TJA/LCA Command.
This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam
assist and highway driving. It is not subject to the PSCM lockout.
This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam assist and highway
driving. It is not subject to the PSCM lockout.
Ford lane centering command uses a third order polynomial to describe the road centerline. The
polynomial is defined by the following coefficients:
c0: lateral offset between the vehicle and the centerline
c1: heading angle between the vehicle and the centerline
c2: curvature of the centerline
Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined
by the following coefficients:
c0: lateral offset between the vehicle and the centerline (positive is right)
c1: heading angle between the vehicle and the centerline (positive is right)
c2: curvature of the centerline (positive is left)
c3: rate of change of curvature of the centerline
As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and
speed, the steering angle cannot be easily controlled.
As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering
angle cannot be easily controlled.
The PSCM should be configured to accept TJA/LCA commands before these commands will be processed.
This can be done using tools such as Forscan.
The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done
using tools such as Forscan.
Frequency is 20Hz.
"""
values = {
"LatCtlRng_L_Max": 0, # Unknown [0|126] meter
"HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1]
"LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7]
"LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
"LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
"LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
"LatCtlRng_L_Max": 0, # Unknown [0|126] meter
"HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1]
"LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
# 3=InterventionRight, 4-7=NotUsed [0|7]
"LatCtlRampType_D_Rq": 0, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
# Makes no difference with curvature control
"LatCtlPrecision_D_Rq": 1, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
# The stock system always uses comfortable
"LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
}
return packer.make_can_msg("LateralMotionControl", CANBUS.main, values)
def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float,
curvature_rate: float, counter: int):
"""
Create a CAN message for the new Ford Lane Centering command.
This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has
additional signals for a counter and checksum.
Frequency is 20Hz.
"""
values = {
"LatCtl_D2_Rq": mode, # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
# 3=SafeRampOut, 4-7=NotUsed [0|7]
"LatCtlRampType_D_Rq": 0, # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
"LatCtlPrecision_D_Rq": 1, # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
"LatCtlPathOffst_L_Actl": path_offset, # [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # [-0.5|0.5235] radians
"LatCtlCurv_No_Actl": curvature, # [-0.02|0.02094] 1/meter
"LatCtlCrv_NoRate2_Actl": curvature_rate, # [-0.001024|0.001023] 1/meter^2
"HandsOffCnfm_B_Rq": 0, # 0=Inactive, 1=Active [0|1]
"LatCtlPath_No_Cnt": counter, # [0|15]
"LatCtlPath_No_Cs": 0, # [0|255]
}
# calculate checksum
dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2]
values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
"""
Creates a CAN message for the Ford ACC Command.
This command can be used to enable ACC, to set the ACC gas/brake/decel values
and to disable ACC.
Frequency is 50Hz.
"""
values = {
"AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2
"Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes
"AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2
"AccBrkPrchg_B_Rq": 1 if precharge_brake else 0, # Pre-charge brake request: 0=No, 1=Yes
"AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active
}
return packer.make_can_msg("ACCDATA", CANBUS.main, values)
def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
"""
Creates a CAN message for the Ford IPC IPMA/LKAS status.
@@ -107,16 +163,15 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo
values = {
**stock_values,
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31]
"LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31]
"LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
}
return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
"""
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
assist status.
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
Stock functionality is maintained by passing through unmodified signals.
@@ -148,7 +203,8 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, sto
return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus: int = CANBUS.camera):
def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
bus: int = CANBUS.camera):
"""
Creates a CAN message for the Ford SCCM buttons/switches.
selfdrive/car/ford/interface.py
+27 -23
View File
@@ -1,46 +1,53 @@
#!/usr/bin/env python3
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.ford.values import CAR, Ecu
from selfdrive.car.interfaces import CarInterfaceBase
CarParams = car.CarParams
TransmissionType = car.CarParams.TransmissionType
GearShifter = car.CarState.GearShifter
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
if car_fw is None:
car_fw = []
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "ford"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
# These cars are dashcam only until the port is finished
ret.dashcamOnly = True
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)]
# Angle-based steering
ret.steerControlType = CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.4
ret.radarUnavailable = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.2
ret.steerLimitTimer = 1.0
tire_stiffness_factor = 1.0
if candidate == CAR.ESCAPE_MK4:
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7
ret.mass = 1625 + STD_CARGO_KG
elif candidate == CAR.ESCAPE_MK4:
ret.wheelbase = 2.71
ret.steerRatio = 14.3 # Copied from Focus
ret.steerRatio = 16.7
ret.mass = 1750 + STD_CARGO_KG
elif candidate == CAR.EXPLORER_MK6:
ret.wheelbase = 3.025
ret.steerRatio = 16.8 # learned
ret.steerRatio = 16.8
ret.mass = 2050 + STD_CARGO_KG
elif candidate == CAR.FOCUS_MK4:
ret.wheelbase = 2.7
ret.steerRatio = 13.8 # learned
ret.steerRatio = 15.0
ret.mass = 1350 + STD_CARGO_KG
elif candidate == CAR.MAVERICK_MK1:
ret.wheelbase = 3.076
ret.steerRatio = 17.0
ret.mass = 1650 + STD_CARGO_KG
else:
raise ValueError(f"Unsupported car: {candidate}")
@@ -60,10 +67,7 @@ class CarInterface(CarInterfaceBase):
ret.minSteerSpeed = 0.
ret.autoResumeSng = ret.minEnableSpeed == -1.
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.44
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
def _update(self, c):
@@ -74,5 +78,5 @@ class CarInterface(CarInterfaceBase):
return ret
def apply(self, c):
return self.CC.update(c, self.CS)
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/ford/radar_interface.py
+1 -1
View File
@@ -47,7 +47,7 @@ class RadarInterface(RadarInterfaceBase):
self.updated_messages = set()
self.track_id = 0
self.radar = DBC[CP.carFingerprint]['radar']
if self.radar is None:
if self.radar is None or CP.radarUnavailable:
self.rcp = None
elif self.radar == RADAR.DELPHI_ESR:
self.rcp = _create_delphi_esr_radar_can_parser()
selfdrive/car/ford/values.py
+102 -17
View File
@@ -1,23 +1,21 @@
from collections import defaultdict, namedtuple
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Union
from typing import Dict, List, Set, Union
from cereal import car
from selfdrive.car import dbc_dict
from selfdrive.car import AngleRateLimit, dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
TransmissionType = car.CarParams.TransmissionType
GearShifter = car.CarState.GearShifter
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
class CarControllerParams:
# Messages: Lane_Assist_Data1, LateralMotionControl
LKAS_STEER_STEP = 5
STEER_STEP = 5
# Message: ACCDATA
ACC_CONTROL_STEP = 2
# Message: IPMA_Data
LKAS_UI_STEP = 100
# Message: ACCDATA_3
@@ -25,12 +23,20 @@ class CarControllerParams:
# Message: Steering_Data_FD1, but send twice as fast
BUTTONS_STEP = 10 / 2
LKAS_STEER_RATIO = 2.75 # Approximate ratio between LatCtlPath_An_Actl and steering angle in radians
# TODO: remove this once we understand how the EPS calculates the steering angle better
STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold in Nm
CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1
STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm
RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
# Curvature rate limits
# TODO: unify field names used by curvature and angle control cars
# ~2 m/s^3 up, ~-3 m/s^3 down
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016])
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024])
ACCEL_MAX = 2.0 # m/s^s max acceleration
ACCEL_MIN = -3.5 # m/s^s max deceleration
def __init__(self, CP):
pass
class CANBUS:
@@ -40,9 +46,14 @@ class CANBUS:
class CAR:
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
FOCUS_MK4 = "FORD FOCUS 4TH GEN"
MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
CANFD_CARS: Set[str] = set()
class RADAR:
@@ -60,12 +71,20 @@ class FordCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
CAR.ESCAPE_MK4: [
FordCarInfo("Ford Escape 2020"),
FordCarInfo("Ford Kuga EU", "Driver Assistance Pack"),
FordCarInfo("Ford Escape 2020-22"),
FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"),
FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Driver Assistance Pack"),
],
CAR.EXPLORER_MK6: [
FordCarInfo("Ford Explorer 2020-22"),
FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
],
CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-21"),
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"),
}
FW_QUERY_CONFIG = FwQueryConfig(
@@ -85,33 +104,71 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
FW_VERSIONS = {
CAR.ESCAPE_MK4: {
CAR.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',
],
(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',
],
(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',
],
(Ecu.engine, 0x7E0, None): [
b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.shiftByWire, 0x732, None): [
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.ESCAPE_MK4: {
(Ecu.eps, 0x730, None): [
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',
b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7E0, None): [
b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.shiftByWire, 0x732, None): [
b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.EXPLORER_MK6: {
(Ecu.eps, 0x730, None): [
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BB\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-KB\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',
@@ -119,14 +176,20 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x706, None): [
b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7E0, None): [
b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.shiftByWire, 0x732, None): [
b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FOCUS_MK4: {
@@ -148,4 +211,26 @@ FW_VERSIONS = {
(Ecu.shiftByWire, 0x732, None): [
],
},
CAR.MAVERICK_MK1: {
(Ecu.eps, 0x730, None): [
b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'NZ6C-2D053-AG\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',
],
(Ecu.fwdCamera, 0x706, None): [
b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7E0, None): [
b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.shiftByWire, 0x732, None): [
b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
}
selfdrive/car/fw_query_definitions.py
+15
View File
@@ -1,5 +1,6 @@
#!/usr/bin/env python3
import capnp
import copy
from dataclasses import dataclass, field
import struct
from typing import Dict, List, Optional, Tuple
@@ -57,12 +58,26 @@ class Request:
whitelist_ecus: List[int] = field(default_factory=list)
rx_offset: int = 0x8
bus: int = 1
# Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
auxiliary: bool = False
# FW responses from these queries will not be used for fingerprinting
logging: bool = False
# boardd toggles OBD multiplexing on/off as needed
obd_multiplexing: bool = True
@dataclass
class FwQueryConfig:
requests: List[Request]
# TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
# Overrides and removes from essential ecus for specific models and ecus (exact matching)
non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
# Ecus added for data collection, not to be fingerprinted on
extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
def __post_init__(self):
for i in range(len(self.requests)):
if self.requests[i].auxiliary:
new_request = copy.deepcopy(self.requests[i])
new_request.bus += 4
self.requests.append(new_request)
selfdrive/car/fw_versions.py
+53 -26
View File
@@ -1,11 +1,12 @@
#!/usr/bin/env python3
from collections import defaultdict
from typing import Any, Optional, Set, Tuple
from typing import Any, Dict, List, Set
from tqdm import tqdm
import panda.python.uds as uds
from cereal import car
from selfdrive.car.ecu_addrs import get_ecu_addrs
from common.params import Params
from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs
from selfdrive.car.interfaces import get_interface_attr
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -18,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
def chunks(l, n=128):
@@ -29,16 +30,17 @@ def chunks(l, n=128):
def build_fw_dict(fw_versions, filter_brand=None):
fw_versions_dict = defaultdict(set)
for fw in fw_versions:
if filter_brand is None or fw.brand == filter_brand:
addr = fw.address
if (filter_brand is None or fw.brand == filter_brand) and not fw.logging:
sub_addr = fw.subAddress if fw.subAddress != 0 else None
fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
return dict(fw_versions_dict)
def get_brand_addrs():
brand_addrs = defaultdict(set)
for brand, cars in VERSIONS.items():
# Add ecus in database + extra ecus to match against
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
for fw in cars.values():
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
return brand_addrs
@@ -90,7 +92,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
return set()
def match_fw_to_car_exact(fw_versions_dict):
def match_fw_to_car_exact(fw_versions_dict) -> 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
@@ -146,34 +148,43 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
return True, set()
def get_present_ecus(logcan, sendcan):
queries = list()
parallel_queries = list()
def get_present_ecus(logcan, sendcan, num_pandas=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()
for brand, r in REQUESTS:
for brand, config, r in REQUESTS:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
for brand_versions in VERSIONS[brand].values():
for ecu_type, addr, sub_addr in brand_versions:
for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus:
# Only query ecus in whitelist if whitelist is not empty
if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
a = (addr, sub_addr, r.bus)
# Build set of queries
if sub_addr is None:
if a not in parallel_queries:
parallel_queries.append(a)
if a not in parallel_queries[r.obd_multiplexing]:
parallel_queries[r.obd_multiplexing].append(a)
else: # subaddresses must be queried one by one
if [a] not in queries:
queries.append([a])
if [a] not in queries[r.obd_multiplexing]:
queries[r.obd_multiplexing].append([a])
# Build set of expected responses to filter
response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
responses.add((response_addr, sub_addr, r.bus))
queries.insert(0, parallel_queries)
for obd_multiplexing in queries:
queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
ecu_responses: Set[Tuple[int, Optional[int], int]] = set()
for query in queries:
ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
ecu_responses = set()
for obd_multiplexing in queries:
set_obd_multiplexing(params, obd_multiplexing)
for query in queries[obd_multiplexing]:
ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
return ecu_responses
@@ -181,9 +192,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
"""Returns dictionary of brands and matches with ECUs in their FW versions"""
brand_addrs = get_brand_addrs()
brand_matches = {brand: set() for brand, _ in REQUESTS}
brand_matches = {brand: set() for brand, _, _ in REQUESTS}
brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS)
for addr, sub_addr, _ in ecu_rx_addrs:
# Since we can't know what request an ecu responded to, add matches for all possible rx offsets
for brand, rx_offset in brand_rx_offsets:
@@ -194,6 +205,15 @@ def get_brand_ecu_matches(ecu_rx_addrs):
return brand_matches
def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
params.remove("ObdMultiplexingChanged")
params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
params.get_bool("ObdMultiplexingChanged", block=True)
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):
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
@@ -213,6 +233,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
versions = VERSIONS.copy()
params = Params()
# Each brand can define extra ECUs to query for data collection
for brand, config in FW_QUERY_CONFIGS.items():
@@ -231,8 +252,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
ecu_types = {}
for brand, brand_versions in versions.items():
for c in brand_versions.values():
for ecu_type, addr, sub_addr in c.keys():
for ecu in brand_versions.values():
for ecu_type, addr, sub_addr in ecu.keys():
a = (brand, addr, sub_addr)
if a not in ecu_types:
ecu_types[a] = ecu_type
@@ -248,14 +269,18 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
# Get versions and build capnp list to put into CarParams
car_fw = []
requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
for addr in tqdm(addrs, disable=not progress):
for addr_chunk in chunks(addr):
for brand, r in requests:
for brand, config, r in requests:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
# Toggle OBD multiplexing for each request
if r.bus % 4 == 1:
set_obd_multiplexing(params, r.obd_multiplexing)
try:
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
@@ -272,6 +297,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
f.request = r.request
f.brand = brand
f.bus = r.bus
f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
f.obdMultiplexing = r.obd_multiplexing
if sub_addr is not None:
f.subAddress = sub_addr
selfdrive/car/gm/carcontroller.py
+59 -27
View File
@@ -3,12 +3,18 @@ from common.conversions import Conversions as CV
from common.numpy_fast import interp
from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car import apply_driver_steer_torque_limits
from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
LongCtrlState = car.CarControl.Actuators.LongControlState
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
CAMERA_CANCEL_DELAY_FRAMES = 10
# Enforce a minimum interval between steering messages to avoid a fault
MIN_STEER_MSG_INTERVAL_MS = 15
class CarController:
@@ -19,19 +25,20 @@ class CarController:
self.apply_gas = 0
self.apply_brake = 0
self.frame = 0
self.last_steer_frame = 0
self.last_button_frame = 0
self.cancel_counter = 0
self.lka_steering_cmd_counter = 0
self.sent_lka_steering_cmd = False
self.lka_icon_status_last = (False, False)
self.params = CarControllerParams()
self.params = CarControllerParams(self.CP)
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
def update(self, CC, CS):
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
hud_alert = hud_control.visualAlert
@@ -42,23 +49,35 @@ class CarController:
# Send CAN commands.
can_sends = []
# Steering (50Hz)
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
# next Panda loopback confirmation in the current CS frame.
if CS.loopback_lka_steering_cmd_updated:
self.lka_steering_cmd_counter += 1
self.sent_lka_steering_cmd = True
elif (self.frame % self.params.STEER_STEP) == 0:
# Initialize ASCMLKASteeringCmd counter using the camera
if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera:
self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1
# Steering (Active: 50Hz, inactive: 10Hz)
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Also send at 50Hz:
# - on startup, first few msgs are blocked
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
steer_step = self.params.STEER_STEP
self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
# received the ASCMLKASteeringCmd loopback confirmation too recently
last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
if CS.loopback_lka_steering_cmd_ts_nanos == 0:
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
if CC.latActive:
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
else:
apply_steer = 0
self.last_steer_frame = self.frame
self.apply_steer_last = apply_steer
idx = self.lka_steering_cmd_counter % 4
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
@@ -67,24 +86,27 @@ class CarController:
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
if not CC.longActive:
# Stock ECU sends max regen when not enabled
self.apply_gas = self.params.MAX_ACC_REGEN
# ASCM sends max regen when not enabled
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0
else:
if self.CP.carFingerprint in EV_CAR:
self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
friction_brake_bus = CanBus.CHASSIS
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera:
at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping
friction_brake_bus = CanBus.POWERTRAIN
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw
@@ -93,7 +115,7 @@ class CarController:
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
if not self.CP.radarOffCan:
if not self.CP.radarUnavailable:
tt = self.frame * DT_CTRL
time_and_headlights_step = 10
if self.frame % time_and_headlights_step == 0:
@@ -111,12 +133,21 @@ class CarController:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
else:
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
# A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
# Stock longitudinal, integrated at camera
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
if CC.cruiseControl.cancel:
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
if self.frame % 10 == 0:
can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
# Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit.
# If not sent again, LKA icon disappears in about 5 seconds.
@@ -133,6 +164,7 @@ class CarController:
new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last
new_actuators.gas = self.apply_gas
new_actuators.brake = self.apply_brake
selfdrive/car/gm/carstate.py
+46 -14
View File
@@ -1,3 +1,4 @@
import copy
from cereal import car
from common.conversions import Conversions as CV
from common.numpy_fast import mean
@@ -16,8 +17,13 @@ class CarState(CarStateBase):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
self.cluster_min_speed = CV.KPH_TO_MS / 2.
self.loopback_lka_steering_cmd_updated = False
self.camera_lka_steering_cmd_counter = 0
self.loopback_lka_steering_cmd_ts_nanos = 0
self.pt_lka_steering_cmd_counter = 0
self.cam_lka_steering_cmd_counter = 0
self.buttons_counter = 0
def update(self, pt_cp, cam_cp, loopback_cp):
@@ -26,11 +32,16 @@ class CarState(CarStateBase):
self.prev_cruise_buttons = self.cruise_buttons
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
if self.loopback_lka_steering_cmd_updated:
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
if self.CP.networkLocation == NetworkLocation.fwdCamera:
self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
ret.wheelSpeeds = self.get_wheel_speeds(
pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -48,21 +59,19 @@ class CarState(CarStateBase):
else:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
# that the brake is being intermittently pressed without user interaction.
# To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.networkLocation != NetworkLocation.fwdCamera:
ret.brakePressed = ret.brake >= 8
if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
else:
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
# Match ECM threshold at a standstill to allow the camera to cancel earlier
ret.brakePressed = ret.brake >= 20
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
# that the brake is being intermittently pressed without user interaction.
# To avoid a cruise fault we need to use a conservative brake position threshold
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
ret.brakePressed = ret.brake >= 8
# Regen braking is braking
if self.CP.transmissionType == TransmissionType.direct:
ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
ret.gasPressed = ret.gas > 1e-5
@@ -92,13 +101,17 @@ class CarState(CarStateBase):
ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
# openpilot controls nonAdaptive when not pcmCruise
if self.CP.pcmCruise:
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
return ret
@@ -111,6 +124,7 @@ class CarState(CarStateBase):
("AEBCmdActive", "AEBCmd"),
("RollingCounter", "ASCMLKASteeringCmd"),
("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
]
checks += [
("AEBCmd", 10),
@@ -142,14 +156,22 @@ class CarState(CarStateBase):
("FRWheelSpd", "EBCMWheelSpdFront"),
("RLWheelSpd", "EBCMWheelSpdRear"),
("RRWheelSpd", "EBCMWheelSpdRear"),
("MovingBackward", "EBCMWheelSpdRear"),
("FrictionBrakeUnavailable", "EBCMFrictionBrakeStatus"),
("PRNDL2", "ECMPRDNL2"),
("ManualMode", "ECMPRDNL2"),
("LKADriverAppldTrq", "PSCMStatus"),
("LKATorqueDelivered", "PSCMStatus"),
("LKATorqueDeliveredStatus", "PSCMStatus"),
("HandsOffSWlDetectionStatus", "PSCMStatus"),
("HandsOffSWDetectionMode", "PSCMStatus"),
("LKATotalTorqueDelivered", "PSCMStatus"),
("PSCMStatusChecksum", "PSCMStatus"),
("RollingCounter", "PSCMStatus"),
("TractionControlOn", "ESPStatus"),
("ParkBrake", "VehicleIgnitionAlt"),
("CruiseMainOn", "ECMEngineStatus"),
("BrakePressed", "ECMEngineStatus"),
]
checks = [
@@ -161,6 +183,7 @@ class CarState(CarStateBase):
("VehicleIgnitionAlt", 10),
("EBCMWheelSpdFront", 20),
("EBCMWheelSpdRear", 20),
("EBCMFrictionBrakeStatus", 20),
("AcceleratorPedal2", 33),
("ASCMSteeringButton", 33),
("ECMEngineStatus", 100),
@@ -168,6 +191,15 @@ class CarState(CarStateBase):
("ECMAcceleratorPos", 80),
]
# Used to read back last counter sent to PT by camera
if CP.networkLocation == NetworkLocation.fwdCamera:
signals += [
("RollingCounter", "ASCMLKASteeringCmd"),
]
checks += [
("ASCMLKASteeringCmd", 0),
]
if CP.transmissionType == TransmissionType.direct:
signals.append(("RegenPaddle", "EBCMRegenPaddle"))
checks.append(("EBCMRegenPaddle", 50))
selfdrive/car/gm/gmcan.py
+50 -18
View File
@@ -1,14 +1,32 @@
from selfdrive.car import make_can_msg
from selfdrive.car.gm.values import CAR
def create_buttons(packer, bus, idx, button):
values = {
"ACCButtons": button,
"RollingCounter": idx,
"ACCAlwaysOne": 1,
"DistanceButton": 0,
}
checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0
checksum -= 2 * values["DistanceButton"]
values["SteeringButtonChecksum"] = checksum
return packer.make_can_msg("ASCMSteeringButton", bus, values)
def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
def create_pscm_status(packer, bus, pscm_status):
checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5
pscm_status["HandsOffSWlDetectionStatus"] = 1
pscm_status["PSCMStatusChecksum"] += checksum_mod
return packer.make_can_msg("PSCMStatus", bus, pscm_status)
def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
values = {
"LKASteeringCmdActive": lkas_active,
"LKASteeringCmd": apply_steer,
@@ -18,15 +36,17 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
def create_adas_keepalive(bus):
dat = b"\x00\x00\x00\x00\x00\x00\x00"
return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop):
def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
values = {
"GasRegenCmdActive": acc_engaged,
"GasRegenCmdActive": enabled,
"RollingCounter": idx,
"GasRegenCmdActiveInv": 1 - acc_engaged,
"GasRegenCmdActiveInv": 1 - enabled,
"GasRegenCmd": throttle,
"GasRegenFullStopActive": at_full_stop,
"GasRegenAlwaysOne": 1,
@@ -41,15 +61,21 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
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,):
mode = 0x9
if apply_brake > 0:
mode = 0xa
if at_full_stop:
mode = 0xd
# TODO: this is to have GM bringing the car to complete stop,
# but currently it conflicts with OP controls, so turned off.
# but currently it conflicts with OP controls, so turned off. Not set by all cars
#elif near_stop:
# mode = 0xb
@@ -57,44 +83,48 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
values = {
"RollingCounter" : idx,
"FrictionBrakeMode" : mode,
"RollingCounter": idx,
"FrictionBrakeMode": mode,
"FrictionBrakeChecksum": checksum,
"FrictionBrakeCmd" : -apply_brake
"FrictionBrakeCmd": -apply_brake
}
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
target_speed = min(target_speed_kph, 255)
values = {
"ACCAlwaysOne" : 1,
"ACCResumeButton" : 0,
"ACCSpeedSetpoint" : target_speed,
"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
"ACCCmdActive" : acc_engaged,
"ACCAlwaysOne2" : 1,
"ACCLeadCar" : lead_car_in_sight,
"ACCAlwaysOne": 1,
"ACCResumeButton": 0,
"ACCSpeedSetpoint": target_speed,
"ACCGapLevel": 3 * enabled, # 3 "far", 0 "inactive"
"ACCCmdActive": enabled,
"ACCAlwaysOne2": 1,
"ACCLeadCar": lead_car_in_sight,
"FCWAlert": 0x3 if fcw else 0
}
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
def create_adas_time_status(bus, tt, idx):
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
((tt & 0xf) << 4) + (idx << 2)]
((tt & 0xf) << 4) + (idx << 2)]
chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
chksum = chksum & 0xfff
dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
return make_can_msg(0xa1, bytes(dat), bus)
def create_adas_steering_status(bus, idx):
dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
chksum = 0x60 + sum(dat)
dat += [chksum >> 8, chksum & 0xff]
return make_can_msg(0x306, bytes(dat), bus)
def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
spd = int(speed_ms * 16) & 0xfff
accel = 0 & 0xfff
@@ -108,6 +138,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
return make_can_msg(0x308, bytes(dat), bus)
def create_adas_headlights_status(packer, bus):
values = {
"Always42": 0x42,
@@ -115,6 +146,7 @@ def create_adas_headlights_status(packer, bus):
}
return packer.make_can_msg("ASCMHeadlight", bus, values)
def create_lka_icon_command(bus, active, critical, steer):
if active and steer == 1:
if critical:
selfdrive/car/gm/interface.py
+70 -35
View File
@@ -4,8 +4,9 @@ from math import fabs
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -20,8 +21,7 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
params = CarControllerParams()
return params.ACCEL_MIN, params.ACCEL_MAX
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@staticmethod
@@ -45,53 +45,74 @@ class CarInterface(CarInterfaceBase):
return CarInterfaceBase.get_steer_feedforward_default
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.automatic
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.15]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kiBP = [0.]
if candidate in CAMERA_ACC_CAR:
ret.openpilotLongitudinalControl = False
ret.experimentalLongitudinalAvailable = True
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarOffCan = True # no radar
ret.radarUnavailable = True # no radar
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
# Tuning for experimental long
ret.longitudinalTuning.kpV = [2.0, 1.5]
ret.longitudinalTuning.kiV = [0.72]
ret.stopAccel = -2.0
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
if experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
ret.radarOffCan = False
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
# Tuning
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiV = [0.36]
# 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, CAR.EQUINOX, CAR.BOLT_EV}
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} 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.
# Some GMs need some tolerance above 10 kph to avoid a fault
ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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
tire_stiffness_factor = 0.444 # not optimized yet
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
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.mass = 1607. + STD_CARGO_KG
@@ -127,7 +148,13 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
elif candidate == CAR.BUICK_LACROSSE:
ret.mass = 1712. + STD_CARGO_KG
ret.wheelbase = 2.91
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
@@ -141,6 +168,14 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.5
elif candidate == CAR.ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 5653. * CV.LB_TO_KG + STD_CARGO_KG # (5552+5815)/2
ret.wheelbase = 2.95 # 116 inches in meters
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.ESCALADE_ESV:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739. + STD_CARGO_KG
@@ -152,11 +187,11 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.000045
tire_stiffness_factor = 1.0
elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
elif candidate == CAR.BOLT_EUV:
ret.mass = 1669. + STD_CARGO_KG
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
ret.centerToFront = 2.15 # measured
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -176,10 +211,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
@@ -192,22 +223,26 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)]
# Handle ACCButtons changing buttons mid-press
if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS:
buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS))
# Suppress resume button if we're resuming from stop so we don't adjust speed.
if be.type == ButtonType.accelCruise and (ret.cruiseState.enabled and ret.standstill):
be.type = ButtonType.unknown
ret.buttonEvents = [be]
ret.buttonEvents = buttonEvents
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise)
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
if not self.CP.pcmCruise:
if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
events.add(EventName.buttonEnable)
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)
@@ -218,5 +253,5 @@ class CarInterface(CarInterfaceBase):
return ret
def apply(self, c):
return self.CC.update(c, self.CS)
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/gm/radar_interface.py
+3 -5
View File
@@ -3,7 +3,7 @@ import math
from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from selfdrive.car.gm.values import DBC, CAR, CanBus
from selfdrive.car.gm.values import DBC, CanBus
from selfdrive.car.interfaces import RadarInterfaceBase
RADAR_HEADER_MSG = 1120
@@ -16,9 +16,6 @@ LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radar_can_parser(car_fingerprint):
if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS, CAR.ESCALADE_ESV):
return None
# C1A-ARS3-A by Continental
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
signals = list(zip(['FLRRNumValidTargets',
@@ -34,11 +31,12 @@ def create_radar_can_parser(car_fingerprint):
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.rcp = create_radar_can_parser(CP.carFingerprint)
self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
self.trigger_msg = LAST_RADAR_MSG
self.updated_messages = set()
selfdrive/car/gm/values.py
+66 -33
View File
@@ -1,5 +1,5 @@
from collections import defaultdict
from dataclasses import dataclass, field
from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Union
@@ -11,9 +11,10 @@ Ecu = car.CarParams.Ecu
class CarControllerParams:
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
STEER_STEP = 2 # Control frames per command (50hz)
STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 17
STEER_STEP = 3 # Active control frames per command (~33hz)
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 25
STEER_DRIVER_ALLOWANCE = 50
STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100
@@ -23,14 +24,6 @@ class CarControllerParams:
ADAS_KEEPALIVE_STEP = 100
CAMERA_KEEPALIVE_STEP = 100
# Volt gas/brake lookups
# TODO: These values should be confirmed on non-Volt vehicles.
# MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2
MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
ZERO_GAS = 2048 # Coasting
MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope.
@@ -39,15 +32,32 @@ class CarControllerParams:
ACCEL_MAX = 2. # m/s^2
ACCEL_MIN = -4. # m/s^2
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
def __init__(self, CP):
# Gas/brake lookups
self.ZERO_GAS = 2048 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
if CP.carFingerprint in CAMERA_ACC_CAR:
self.MAX_GAS = 3400
self.MAX_ACC_REGEN = 1514
self.INACTIVE_REGEN = 1554
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
else:
self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 1404
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
class CAR:
@@ -56,9 +66,10 @@ class CAR:
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_LACROSSE = "BUICK LACROSSE 2017"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE = "CADILLAC ESCALADE 2017"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
BOLT_EV = "CHEVROLET BOLT EV 2022"
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
EQUINOX = "CHEVROLET EQUINOX 2019"
@@ -66,7 +77,7 @@ class CAR:
class Footnote(Enum):
OBD_II = CarFootnote(
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
'<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
Column.MODEL)
@@ -74,25 +85,34 @@ class Footnote(Enum):
@dataclass
class GMCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
harness: Enum = Harness.obd_ii
footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
def init_make(self, CP: car.CarParams):
if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
self.harness = Harness.gm
else:
self.harness = Harness.obd_ii
self.footnotes.append(Footnote.OBD_II)
CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0),
CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", footnotes=[], harness=Harness.gm),
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm),
CAR.BOLT_EUV: [
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", footnotes=[], harness=Harness.gm),
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
],
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
}
@@ -133,6 +153,15 @@ FINGERPRINTS = {
# Volt Premier w/ ACC 2018
{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 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, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 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, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
},
# Volt Premier 2018 w/ flashed firmware, no radar
{
170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 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, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
}],
CAR.BUICK_LACROSSE: [
# LaCrosse Premium AWD 2017
{
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, 353: 3, 381: 6, 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, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 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, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 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, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 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, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
}],
CAR.BUICK_REGAL : [
# Regal TourX Essence w/ ACC 2018
@@ -158,6 +187,10 @@ FINGERPRINTS = {
{
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: [
{
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: [
{
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
@@ -178,9 +211,9 @@ FINGERPRINTS = {
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV}
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
STEER_THRESHOLD = 1.0
selfdrive/car/honda/carcontroller.py
+18 -5
View File
@@ -99,6 +99,12 @@ HUDData = namedtuple("HUDData",
"lanes_visible", "fcw", "acc_alert", "steer_required"])
def rate_limit_steer(new_steer, last_steer):
# TODO just hardcoded ramp to min/max in 0.33s for all Honda
MAX_DELTA = 3 * DT_CTRL
return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA)
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
@@ -116,8 +122,9 @@ class CarController:
self.speed = 0.0
self.gas = 0.0
self.brake = 0.0
self.last_steer = 0.0
def update(self, CC, CS):
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
@@ -130,6 +137,10 @@ class CarController:
accel = 0.0
gas, brake = 0.0, 0.0
# *** rate limit steer ***
limited_steer = rate_limit_steer(actuators.steer, self.last_steer)
self.last_steer = limited_steer
# *** apply brake hysteresis ***
pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady,
CS.out.vEgo, self.CP.carFingerprint)
@@ -143,7 +154,7 @@ class CarController:
# **** process the car messages ****
# steer torque is converted back to CAN reference (positive when steering right)
apply_steer = int(interp(-actuators.steer * self.params.STEER_MAX,
apply_steer = int(interp(-limited_steer * self.params.STEER_MAX,
self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
# Send CAN commands
@@ -178,14 +189,14 @@ class CarController:
clip(CS.out.vEgo + 0.0, 0.0, 100.0),
clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
pcm_accel = int(1.0 * 0xc6)
pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
else:
pcm_speed_V = [0.0,
clip(CS.out.vEgo - 2.0, 0.0, 100.0),
clip(CS.out.vEgo + 2.0, 0.0, 100.0),
clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6)
pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)
if not self.CP.openpilotLongitudinalControl:
if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message
@@ -243,13 +254,15 @@ class CarController:
self.speed = pcm_speed
if not self.CP.enableGasInterceptor:
self.gas = pcm_accel / 0xc6
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
new_actuators = actuators.copy()
new_actuators.speed = self.speed
new_actuators.accel = self.accel
new_actuators.gas = self.gas
new_actuators.brake = self.brake
new_actuators.steer = self.last_steer
new_actuators.steerOutputCan = apply_steer
self.frame += 1
return new_actuators, can_sends
selfdrive/car/honda/carstate.py
+1 -1
View File
@@ -274,7 +274,7 @@ class CarState(CarStateBase):
ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
if self.CP.carFingerprint in (CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE):
if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE):
if ret.brake > 0.1:
ret.brakePressed = True
selfdrive/car/honda/hondacan.py
+5 -4
View File
@@ -13,7 +13,8 @@ def get_pt_bus(car_fingerprint):
def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
if radar_disabled:
no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
if radar_disabled or no_radar:
# when radar is disabled, steering commands are sent directly to powertrain bus
return get_pt_bus(car_fingerprint)
# normally steering commands are sent to radar, which forwards them to powertrain bus
@@ -104,13 +105,13 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
commands = []
bus_pt = get_pt_bus(CP.carFingerprint)
radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
if CP.openpilotLongitudinalControl:
acc_hud_values = {
'CRUISE_SPEED': hud.v_cruise,
'ENABLE_MINI_CAR': 1,
'ENABLE_MINI_CAR': 1 if enabled else 0,
'HUD_DISTANCE': 0, # max distance setting on display
'IMPERIAL_UNIT': int(not is_metric),
'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
@@ -153,7 +154,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
else:
commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
if radar_disabled:
radar_hud_values = {
'CMBS_OFF': 0x01,
'SET_TO_1': 0x01,

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