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40 lines
1.6 KiB
40 lines
1.6 KiB
2 weeks ago
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# What is a car port?
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A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. 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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Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
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## opendbc
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Each car brand is supported by a standard interface structure in `opendbc/car/[brand]`:
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* `interface.py`: Interface for the car, defines the CarInterface class
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* `carstate.py`: Reads CAN messages from the car and builds openpilot CarState messages
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* `carcontroller.py`: Control logic for executing openpilot CarControl actions on the car
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* `[brand]can.py`: Composes CAN messages for carcontroller to send
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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, if applicable
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## panda
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* `board/safety/safety_[brand].h`: Brand-specific safety logic
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* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
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## openpilot
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For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
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* `selfdrive/car/car_specific.py`: Brand-specific event logic
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# Overview
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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://www.youtube.com/watch?v=XxPS5TpTUnI
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