You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
23 lines
975 B
23 lines
975 B
1 year ago
|
# What is a car port?
|
||
|
|
|
||
|
1 year ago
|
A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
|
||
|
1 year ago
|
|
||
|
1 year ago
|
The complexity of a car port varies depending on many factors including:
|
||
|
|
* existing openpilot support for similar cars
|
||
|
|
* architecture and APIs available in the car
|
||
|
|
|
||
|
|
|
||
|
|
# Structure of a car port
|
||
|
|
* `interface.py`: Interface for the car, defines the CarInterface class
|
||
|
|
* `carstate.py`: Reads CAN from car and builds openpilot CarState message
|
||
|
|
* `carcontroller.py`: Builds CAN messages to send to car
|
||
|
|
* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
|
||
|
|
* `radar_interface.py`: Interface for parsing radar points from the car
|
||
|
|
|
||
|
|
|
||
|
|
# Overiew
|
||
|
|
|
||
|
|
[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
|
||
|
|
|
||
|
|
https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM
|