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23 lines
975 B
23 lines
975 B
10 months ago
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# What is a car port?
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10 months ago
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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/`.
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10 months ago
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10 months ago
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The complexity of a car port varies depending on many factors including:
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* existing openpilot support for similar cars
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* architecture and APIs available in the car
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# Structure of a car port
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* `interface.py`: Interface for the car, defines the CarInterface class
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* `carstate.py`: Reads CAN from car and builds openpilot CarState message
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* `carcontroller.py`: Builds CAN messages to send to car
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* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
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* `radar_interface.py`: Interface for parsing radar points from the car
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# Overiew
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[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:
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https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM
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