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openpilot v0.9.9 release

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date: 2025-05-09T09:10:13
master commit: dde9c703f3
__nightly
Vehicle Researcher 1 day ago
parent dd778596b7
commit 9f1a1919bc
745 changed files with 1365173 additions and 18005 deletions
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  1. 2
      .github/labeler.yaml
  2. 2
      .gitignore
  3. 11
      RELEASES.md
  4. 24
      cereal/log.capnp
  5. 1
      cereal/services.py
  6. 4
      common/params_keys.h
  7. 5
      common/realtime.py
  8. 52
      common/spinner.py
  9. 4
      common/tests/test_simple_kalman.py
  10. 63
      common/text_window.py
  11. 2
      common/version.h
  12. 626
      docs/CARS.md
  13. 2
      docs/SAFETY.md
  14. 10
      docs/WORKFLOW.md
  15. 76
      docs/how-to/turn-the-speed-blue.md
  16. 2
      git_src_commit
  17. 2
      git_src_commit_date
  18. 2
      launch_env.sh
  19. 4
      msgq_repo/msgq/tests/test_messaging.py
  20. 32
      opendbc_repo/docs/CARS.md
  21. 4
      opendbc_repo/opendbc/can/common.pxd
  22. 4
      opendbc_repo/opendbc/can/dbc.cc
  23. 23
      opendbc_repo/opendbc/can/packer_pyx.pyx
  24. 2
      opendbc_repo/opendbc/can/tests/test_checksums.py
  25. 13
      opendbc_repo/opendbc/car/__init__.py
  26. 2
      opendbc_repo/opendbc/car/body/interface.py
  27. 7
      opendbc_repo/opendbc/car/car.capnp
  28. 4
      opendbc_repo/opendbc/car/car_helpers.py
  29. 2
      opendbc_repo/opendbc/car/chrysler/interface.py
  30. 2
      opendbc_repo/opendbc/car/docs.py
  31. 31
      opendbc_repo/opendbc/car/docs_definitions.py
  32. 9
      opendbc_repo/opendbc/car/ford/carcontroller.py
  33. 17
      opendbc_repo/opendbc/car/ford/fingerprints.py
  34. 7
      opendbc_repo/opendbc/car/ford/interface.py
  35. 13
      opendbc_repo/opendbc/car/ford/values.py
  36. 5
      opendbc_repo/opendbc/car/fw_query_definitions.py
  37. 2
      opendbc_repo/opendbc/car/gm/carcontroller.py
  38. 8
      opendbc_repo/opendbc/car/gm/gmcan.py
  39. 13
      opendbc_repo/opendbc/car/gm/interface.py
  40. 3
      opendbc_repo/opendbc/car/gm/radar_interface.py
  41. 28
      opendbc_repo/opendbc/car/gm/values.py
  42. 16
      opendbc_repo/opendbc/car/honda/carstate.py
  43. 24
      opendbc_repo/opendbc/car/honda/fingerprints.py
  44. 14
      opendbc_repo/opendbc/car/honda/hondacan.py
  45. 35
      opendbc_repo/opendbc/car/honda/interface.py
  46. 40
      opendbc_repo/opendbc/car/honda/values.py
  47. 7
      opendbc_repo/opendbc/car/hyundai/fingerprints.py
  48. 10
      opendbc_repo/opendbc/car/hyundai/interface.py
  49. 4
      opendbc_repo/opendbc/car/hyundai/values.py
  50. 10
      opendbc_repo/opendbc/car/interfaces.py
  51. 4
      opendbc_repo/opendbc/car/mazda/fingerprints.py
  52. 2
      opendbc_repo/opendbc/car/mazda/interface.py
  53. 2
      opendbc_repo/opendbc/car/mock/interface.py
  54. 2
      opendbc_repo/opendbc/car/nissan/interface.py
  55. 11
      opendbc_repo/opendbc/car/nissan/values.py
  56. 14
      opendbc_repo/opendbc/car/rivian/carcontroller.py
  57. 11
      opendbc_repo/opendbc/car/rivian/interface.py
  58. 59
      opendbc_repo/opendbc/car/rivian/riviancan.py
  59. 39
      opendbc_repo/opendbc/car/rivian/values.py
  60. 5
      opendbc_repo/opendbc/car/subaru/fingerprints.py
  61. 6
      opendbc_repo/opendbc/car/subaru/interface.py
  62. 2
      opendbc_repo/opendbc/car/subaru/values.py
  63. 15
      opendbc_repo/opendbc/car/tesla/carcontroller.py
  64. 18
      opendbc_repo/opendbc/car/tesla/carstate.py
  65. 5
      opendbc_repo/opendbc/car/tesla/fingerprints.py
  66. 8
      opendbc_repo/opendbc/car/tesla/interface.py
  67. 11
      opendbc_repo/opendbc/car/tesla/values.py
  68. 9
      opendbc_repo/opendbc/car/tests/routes.py
  69. 4
      opendbc_repo/opendbc/car/tests/test_car_interfaces.py
  70. 4
      opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py
  71. 5
      opendbc_repo/opendbc/car/tests/test_lateral_limits.py
  72. 5
      opendbc_repo/opendbc/car/torque_data/override.toml
  73. 1
      opendbc_repo/opendbc/car/torque_data/params.toml
  74. 1
      opendbc_repo/opendbc/car/torque_data/substitute.toml
  75. 34
      opendbc_repo/opendbc/car/toyota/fingerprints.py
  76. 7
      opendbc_repo/opendbc/car/toyota/interface.py
  77. 13
      opendbc_repo/opendbc/car/toyota/values.py
  78. 6
      opendbc_repo/opendbc/car/volkswagen/interface.py
  79. 4
      opendbc_repo/opendbc/car/volkswagen/values.py
  80. 9
      opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
  81. 11
      opendbc_repo/opendbc/dbc/generator/honda/_bosch_adas_2018.dbc
  82. 27
      opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
  83. 6
      opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc
  84. 55
      opendbc_repo/opendbc/dbc/rivian_park_assist_can.dbc
  85. 48
      opendbc_repo/opendbc/dbc/rivian_primary_actuator.dbc
  86. 41
      opendbc_repo/opendbc/dbc/tesla_model3_party.dbc
  87. 0
      opendbc_repo/opendbc/dbc/vw_mqb.dbc
  88. 0
      opendbc_repo/opendbc/dbc/vw_pq.dbc
  89. 1
      opendbc_repo/opendbc/safety/board/drivers/can_common.h
  90. 2
      opendbc_repo/opendbc/safety/board/utils.h
  91. 89
      opendbc_repo/opendbc/safety/safety.h
  92. 6
      opendbc_repo/opendbc/safety/safety/safety_body.h
  93. 40
      opendbc_repo/opendbc/safety/safety/safety_chrysler.h
  94. 63
      opendbc_repo/opendbc/safety/safety/safety_ford.h
  95. 70
      opendbc_repo/opendbc/safety/safety/safety_gm.h
  96. 47
      opendbc_repo/opendbc/safety/safety/safety_honda.h
  97. 44
      opendbc_repo/opendbc/safety/safety/safety_hyundai.h
  98. 63
      opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h
  99. 18
      opendbc_repo/opendbc/safety/safety/safety_mazda.h
  100. 28
      opendbc_repo/opendbc/safety/safety/safety_nissan.h
  101. Some files were not shown because too many files have changed in this diff Show More

2
.github/labeler.yaml
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@ -12,7 +12,7 @@ simulation:
ui: ui:
- changed-files: - changed-files:
- any-glob-to-all-files: 'selfdrive/ui/**' - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
tools: tools:
- changed-files: - changed-files:

2
.gitignore vendored
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@ -47,10 +47,8 @@ selfdrive/pandad/pandad
cereal/services.h cereal/services.h
cereal/gen cereal/gen
cereal/messaging/bridge cereal/messaging/bridge
selfdrive/logcatd/logcatd
selfdrive/mapd/default_speeds_by_region.json selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd system/proclogd/proclogd
selfdrive/ui/translations/alerts_generated.h
selfdrive/ui/translations/tmp selfdrive/ui/translations/tmp
selfdrive/test/longitudinal_maneuvers/out selfdrive/test/longitudinal_maneuvers/out
selfdrive/car/tests/cars_dump selfdrive/car/tests/cars_dump

11
RELEASES.md
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@ -1,3 +1,14 @@
Version 0.9.9 (2025-05-15)
========================
* New driving model
* New training architecture supervised by MLSIM
* Steering actuator delay is now learned online
* Tesla Model 3 and Y support thanks to lukasloetkolben!
* Lexus RC 2023 support thanks to nelsonjchen!
* Coming soon
* New Honda models
* Bigger vision model
Version 0.9.8 (2025-02-28) Version 0.9.8 (2025-02-28)
======================== ========================
* New driving model * New driving model

24
cereal/log.capnp
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@ -48,6 +48,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
preEnableStandstill @12; # added during pre-enable state with brake preEnableStandstill @12; # added during pre-enable state with brake
gasPressedOverride @13; # added when user is pressing gas with no disengage on gas gasPressedOverride @13; # added when user is pressing gas with no disengage on gas
steerOverride @14; steerOverride @14;
steerDisengage @94; # exits active state
cruiseDisabled @15; cruiseDisabled @15;
speedTooLow @16; speedTooLow @16;
outOfSpace @17; outOfSpace @17;
@ -1174,6 +1175,8 @@ struct ModelDataV2 {
struct Action { struct Action {
desiredCurvature @0 :Float32; desiredCurvature @0 :Float32;
desiredAcceleration @1 :Float32;
shouldStop @2 :Bool;
} }
} }
@ -1586,6 +1589,10 @@ struct UbloxGnss {
svId @0 :UInt8; svId @0 :UInt8;
gnssId @1 :UInt8; gnssId @1 :UInt8;
flagsBitfield @2 :UInt32; flagsBitfield @2 :UInt32;
cno @3 :UInt8;
elevationDeg @4 :Int8;
azimuthDeg @5 :Int16;
pseudorangeResidual @6 :Float32;
} }
} }
@ -2274,6 +2281,22 @@ struct LiveTorqueParametersData {
useParams @12 :Bool; useParams @12 :Bool;
} }
struct LiveDelayData {
lateralDelay @0 :Float32;
validBlocks @1 :Int32;
status @2 :Status;
lateralDelayEstimate @3 :Float32;
lateralDelayEstimateStd @5 :Float32;
points @4 :List(Float32);
enum Status {
unestimated @0;
estimated @1;
invalid @2;
}
}
struct LiveMapDataDEPRECATED { struct LiveMapDataDEPRECATED {
speedLimitValid @0 :Bool; speedLimitValid @0 :Bool;
speedLimit @1 :Float32; speedLimit @1 :Float32;
@ -2504,6 +2527,7 @@ struct Event {
gnssMeasurements @91 :GnssMeasurements; gnssMeasurements @91 :GnssMeasurements;
liveParameters @61 :LiveParametersData; liveParameters @61 :LiveParametersData;
liveTorqueParameters @94 :LiveTorqueParametersData; liveTorqueParameters @94 :LiveTorqueParametersData;
liveDelay @146 : LiveDelayData;
cameraOdometry @63 :CameraOdometry; cameraOdometry @63 :CameraOdometry;
thumbnail @66: Thumbnail; thumbnail @66: Thumbnail;
onroadEvents @134: List(OnroadEvent); onroadEvents @134: List(OnroadEvent);

1
cereal/services.py
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@ -36,6 +36,7 @@ _services: dict[str, tuple] = {
"errorLogMessage": (True, 0., 1), "errorLogMessage": (True, 0., 1),
"liveCalibration": (True, 4., 4), "liveCalibration": (True, 4., 4),
"liveTorqueParameters": (True, 4., 1), "liveTorqueParameters": (True, 4., 1),
"liveDelay": (True, 4., 1),
"androidLog": (True, 0.), "androidLog": (True, 0.),
"carState": (True, 100., 10), "carState": (True, 100., 10),
"carControl": (True, 100., 10), "carControl": (True, 100., 10),

4
common/params_keys.h
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@ -34,7 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"DoReboot", CLEAR_ON_MANAGER_START}, {"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START},
{"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
{"ExperimentalMode", PERSISTENT}, {"ExperimentalMode", PERSISTENT},
{"ExperimentalModeConfirmed", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@ -71,7 +71,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
{"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START},
{"LastUpdateTime", PERSISTENT}, {"LastUpdateTime", PERSISTENT},
{"LiveDelay", PERSISTENT},
{"LiveParameters", PERSISTENT}, {"LiveParameters", PERSISTENT},
{"LiveParametersV2", PERSISTENT},
{"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
{"LocationFilterInitialState", PERSISTENT}, {"LocationFilterInitialState", PERSISTENT},
{"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},

5
common/realtime.py
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@ -1,6 +1,7 @@
"""Utilities for reading real time clocks and keeping soft real time constraints.""" """Utilities for reading real time clocks and keeping soft real time constraints."""
import gc import gc
import os import os
import sys
import time import time
from setproctitle import getproctitle from setproctitle import getproctitle
@ -28,13 +29,13 @@ class Priority:
def set_core_affinity(cores: list[int]) -> None: def set_core_affinity(cores: list[int]) -> None:
if not PC: if sys.platform == 'linux' and not PC:
os.sched_setaffinity(0, cores) os.sched_setaffinity(0, cores)
def config_realtime_process(cores: int | list[int], priority: int) -> None: def config_realtime_process(cores: int | list[int], priority: int) -> None:
gc.disable() gc.disable()
if not PC: if sys.platform == 'linux' and not PC:
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority)) os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
c = cores if isinstance(cores, list) else [cores, ] c = cores if isinstance(cores, list) else [cores, ]
set_core_affinity(c) set_core_affinity(c)

52
common/spinner.py
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@ -1,52 +0,0 @@
import os
import subprocess
from openpilot.common.basedir import BASEDIR
class Spinner:
def __init__(self):
try:
self.spinner_proc = subprocess.Popen(["./spinner"],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
close_fds=True)
except OSError:
self.spinner_proc = None
def __enter__(self):
return self
def update(self, spinner_text: str):
if self.spinner_proc is not None:
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
try:
self.spinner_proc.stdin.flush()
except BrokenPipeError:
pass
def update_progress(self, cur: float, total: float):
self.update(str(round(100 * cur / total)))
def close(self):
if self.spinner_proc is not None:
self.spinner_proc.kill()
try:
self.spinner_proc.communicate(timeout=2.)
except subprocess.TimeoutExpired:
print("WARNING: failed to kill spinner")
self.spinner_proc = None
def __del__(self):
self.close()
def __exit__(self, exc_type, exc_value, traceback):
self.close()
if __name__ == "__main__":
import time
with Spinner() as s:
s.update("Spinner text")
time.sleep(5.0)
print("gone")
time.sleep(5.0)

4
common/tests/test_simple_kalman.py
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@ -24,6 +24,6 @@ class TestSimpleKalman:
self.kf.set_x([[1.0], [1.0]]) self.kf.set_x([[1.0], [1.0]])
assert self.kf.x == [[1.0], [1.0]] assert self.kf.x == [[1.0], [1.0]]
def update_returns_state(self): def test_update_returns_state(self):
x = self.kf.update(100) x = self.kf.update(100)
assert x == self.kf.x assert x == [i[0] for i in self.kf.x]

63
common/text_window.py
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@ -1,63 +0,0 @@
#!/usr/bin/env python3
import os
import time
import subprocess
from openpilot.common.basedir import BASEDIR
class TextWindow:
def __init__(self, text):
try:
self.text_proc = subprocess.Popen(["./text", text],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
close_fds=True)
except OSError:
self.text_proc = None
def get_status(self):
if self.text_proc is not None:
self.text_proc.poll()
return self.text_proc.returncode
return None
def __enter__(self):
return self
def close(self):
if self.text_proc is not None:
self.text_proc.terminate()
self.text_proc = None
def wait_for_exit(self):
if self.text_proc is not None:
while True:
if self.get_status() == 1:
return
time.sleep(0.1)
def __del__(self):
self.close()
def __exit__(self, exc_type, exc_value, traceback):
self.close()
if __name__ == "__main__":
text = """Traceback (most recent call last):
File "./controlsd.py", line 608, in <module>
main()
File "./controlsd.py", line 604, in main
controlsd_thread(sm, pm, logcan)
File "./controlsd.py", line 455, in controlsd_thread
1/0
ZeroDivisionError: division by zero"""
print(text)
with TextWindow(text) as s:
for _ in range(100):
if s.get_status() == 1:
print("Got exit button")
break
time.sleep(0.1)
print("gone")

2
common/version.h
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@ -1 +1 @@
#define COMMA_VERSION "0.9.8" #define COMMA_VERSION "0.9.9"

626
docs/CARS.md
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@ -4,328 +4,340 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 302 Supported Cars # 311 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video| |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>|| |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-18">Buy Here</a></sub></details>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>|| |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2019">Buy Here</a></sub></details>||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>|| |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>|| |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>|| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>|| |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>|| |Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>|| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Chevrolet|Bolt 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)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>|| |Chevrolet|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)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>|| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>|| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>|| |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>|| |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>|| |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>|| |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>|| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>|| |Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2023-24">Buy Here</a></sub></details>||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|| |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>|| |Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>|| |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>|| |Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>|| |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>|| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>|| |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>|| |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||
|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>|| |Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|| |Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>|| |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-23">Buy Here</a></sub></details>||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>|| |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-23">Buy Here</a></sub></details>||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>|| |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2024">Buy Here</a></sub></details>||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>|| |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
|Ford|Mustang Mach-E 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-23">Buy Here</a></sub></details>|| |Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>|| |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>|| |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>|| |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>|| |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>|| |Ford|Mustang Mach-E 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>|| |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|| |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>|| |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
|Genesis|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|| |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
|Genesis|GV60 (Performance Trim) 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|| |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|Genesis|GV70 (3.5T Trim, without HDA II) 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|| |Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
|Genesis|GV70 Electrified (Australia Only) 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|| |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
|Genesis|GV70 Electrified (with HDA II) 2023-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|| |Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV80 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>|| |Genesis|GV60 (Performance Trim) 2022-23[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV70 Electrified (Australia Only) 2022[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
|Genesis|GV80 2023[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Honda|Accord 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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>|| |Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>|| |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>|| |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|Honda|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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>|| |Honda|CR-V Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>|| |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>|| |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>|| |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>|| |Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023-25">Buy Here</a></sub></details>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>|| |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-25">Buy Here</a></sub></details>||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>|| |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>|| |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>|| |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>|| |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>|| |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>|| |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>|| |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|| |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|| |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>|| |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>|| |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2017-19|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>|| |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|Hyundai|Ioniq 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|| |Hyundai|Ioniq Hybrid 2017-19|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|Hyundai|Ioniq Plug-in 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
|Hyundai|Kona 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>|| |Hyundai|Ioniq Plug-in 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2018-21|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>|| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022-23|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>|| |Hyundai|Kona 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
|Hyundai|Kona Electric (with HDA II, Korea only) 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|Kona Electric 2018-21|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|| |Hyundai|Kona Electric 2022-23|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>|| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
|Hyundai|Santa Cruz 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>|| |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|Santa Cruz 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|| |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>|| |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Hyundai|Sonata Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|Hyundai|Staria 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>|| |Hyundai|Sonata Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|Hyundai|Tucson 2022[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>|| |Hyundai|Staria 2023[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>|| |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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|Hyundai|Tucson 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>|| |Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson Hybrid 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>|| |Hyundai|Tucson 2023-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
|Hyundai|Tucson Plug-in Hybrid 2024[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>|| |Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|Tucson Plug-in Hybrid 2024[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|Kia|Carnival 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Carnival (China only) 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>|| |Kia|Carnival 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|| |Kia|Carnival (China only) 2023[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|| |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
|Kia|EV6 (without HDA II) 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|| |Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>|| |Kia|EV6 (with HDA II) 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|Kia|Forte 2022-23|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>|| |Kia|EV6 (without HDA II) 2022-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|Kia|K5 2021-24|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|Kia|K5 Hybrid 2020-22|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>|| |Kia|Forte 2022-23|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|| |Kia|K5 2021-24|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
|Kia|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Kia|K5 Hybrid 2020-22|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|Kia|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Kia|K8 Hybrid (with HDA II) 2023[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>|| |Kia|Niro EV 2023-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>|| |Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|| |Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|Kia|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Kia|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|Kia|Sorento 2021-23[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>|| |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento Hybrid 2021-23[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>|| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento Plug-in Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|| |Kia|Sorento 2021-23[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|Kia|Sportage 2023-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>|| |Kia|Sorento Hybrid 2021-23[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|Kia|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>|| |Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Kia|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Kia|Sportage 2023-24[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>|| |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|Kia|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>|| |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
|Lexus|ES 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>|| |Lexus|ES 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>|| |Lexus|ES Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>|| |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>|| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>|| |Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>|| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>|| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>|| |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>|| |Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2023">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>|| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|| |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" 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)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>|| |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>|| |Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>|| |Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>|| |Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>|| |Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>|| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>|| |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|| |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|| |Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|| |Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|| |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|| |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)|| |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)|| |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>|| |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>|| |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>|| |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>|| |Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
|Škoda|Octavia Scout 2017-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>|| |Škoda|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)|| |Škoda|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>|| |Škoda|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|Tesla|Model 3 (with HW3) 2019-23[<sup>8</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)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|| |Škoda|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
|Tesla|Model 3 (with HW4) 2024[<sup>8</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)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024">Buy Here</a></sub></details>|| |Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|Tesla|Model Y (with HW3) 2020-23[<sup>8</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)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|| |Škoda|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|Tesla|Model Y (with HW4) 2024[<sup>8</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)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>|| |Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</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)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>|| |Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</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)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>|| |Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</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)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>|| |Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</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)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|Toyota|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>|| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>|| |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>|| |Toyota|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>|| |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
|Toyota|C-HR Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>|| |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>|| |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|C-HR Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>|| |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>|| |Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>|| |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|| |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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
|Toyota|Highlander 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>|| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>|| |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>|| |Toyota|Highlander 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>|| |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|Toyota|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|Highlander Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
|Toyota|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
|Toyota|Prius 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>|| |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>|| |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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>|| |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>|| |Toyota|RAV4 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
|Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>|| |Toyota|RAV4 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|| |Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-25">Buy Here</a></sub></details>||
|Toyota|RAV4 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|RAV4 Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|RAV4 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)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>|| |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|| |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>|| |Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>|| |Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>|| |Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>|| |Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>|| |Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>|| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>|| |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>|| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>|| |Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>|| |Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)|| |Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)|| |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)|| |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>|| |Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>|| |Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>|| |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|| |Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>|| |Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>|| |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|| |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>|| |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
### Footnotes ### Footnotes
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br /> <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <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>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br /> <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br /> <sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br /> <sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br /> <sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br /> <sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br /> <sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br /> <sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br /> <sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br /> <sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br /> <sup>12</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>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br /> <sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br /> <sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
<sup>16</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>17</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 ## 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/). 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/).

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@ -27,7 +27,7 @@ ensuring two main safety requirements.
react. This means that while the system is engaged, the actuators are constrained react. This means that while the system is engaged, the actuators are constrained
to operate within reasonable limits[^1]. to operate within reasonable limits[^1].
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety). For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
not fully meeting the above requirements. not fully meeting the above requirements.

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@ -31,13 +31,3 @@ cd system/loggerd && pytest .
# run the linter # run the linter
op lint op lint
``` ```
## Testing
### Automated Testing
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
### Code Style and Linting
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.

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@ -20,7 +20,7 @@ source .venv/bin/activate
Then, compile openpilot: Then, compile openpilot:
```bash ```bash
scons -j8 scons -j$(nproc)
``` ```
## 2. Run replay ## 2. Run replay
@ -38,61 +38,77 @@ The openpilot UI should launch and show a replay of the demo route.
If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect. If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
## 3. Make the speed blue ## 3. Make the speed blue
Search for “mph” with git grep in the `ui` folder. Now let’s update the speed display color in the UI.
```bash
$ git grep "mph" selfdrive/ui/
paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
```
The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF. Search for the function responsible for rendering UI text:
```bash ```bash
$ git diff git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 821d95115..cc996eaa1 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
const std::string speed_str = std::to_string((int)std::nearbyint(speed));
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
- ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
- ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+ ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
+ ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
}
static void ui_draw_vision_event(UIState *s) {
``` ```
You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
## 4. Rebuild UI, and admire your work ```cpp
void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
QRect real_rect = p.fontMetrics().boundingRect(text);
real_rect.moveCenter({x, y - real_rect.height() / 2});
p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color
p.drawText(real_rect.x(), real_rect.bottom(), text);
}
``` ```
scons -j8 && selfdrive/ui/ui
Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
```diff
- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
``` ```
This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
---
## 4. Rebuild the UI
After making changes, rebuild Openpilot so your new UI is compiled:
```bash
scons -j$(nproc) && selfdrive/ui/ui
```
![](https://blog.comma.ai/img/blue_speed_ui.png) ![](https://blog.comma.ai/img/blue_speed_ui.png)
You should now see the speed displayed in a nice blue shade during the demo replay.
---
## 5. Push your fork to GitHub ## 5. Push your fork to GitHub
Click fork on GitHub. Then, push with: Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with:
```bash ```bash
git remote rm origin git remote rm origin
git remote add origin git@github.com:<your-github-username>/openpilot.git git remote add origin git@github.com:<your-github-username>/openpilot.git
git add . git add .
git commit -m "Make the speed blue." git commit -m "Make the speed display blue"
git push --set-upstream origin master git push --set-upstream origin master
``` ```
## 6. Run your fork on device in your car! ---
Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer: ## 6. Run your fork on your comma device
Uninstall Openpilot through the settings on your device.
Then reinstall using your own GitHub-hosted fork:
``` ```
installer.comma.ai/<your-github-username>/master installer.comma.ai/<your-github-username>/master
``` ```
## 7. Admire your work IRL ---
## 7. Admire your work IRL 🚗💨
You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
![](https://blog.comma.ai/img/c3_blue_ui.jpg) ![](https://blog.comma.ai/img/c3_blue_ui.jpg)

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@ -1 +1 @@
fb7b9c0f9420d228f03362970ebcfb7237095cf3 dde9c703f35509e6ebd46cee92fc75b955b1f252

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@ -1 +1 @@
1742072523 2025-03-15 14:02:03 -0700 1746739860 2025-05-08 14:31:00 -0700

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@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="11.11" export AGNOS_VERSION="12.1"
fi fi
export STAGING_ROOT="/data/safe_staging" export STAGING_ROOT="/data/safe_staging"

4
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@ -52,9 +52,11 @@ class TestPubSubSockets:
recvd_msgs = msgq.drain_sock_raw(sub_sock) recvd_msgs = msgq.drain_sock_raw(sub_sock)
if conflate: if conflate:
assert len(recvd_msgs) == 1 assert len(recvd_msgs) == 1
assert recvd_msgs[0] == sent_msgs[-1]
else: else:
# TODO: compare actual data
assert len(recvd_msgs) == len(sent_msgs) assert len(recvd_msgs) == len(sent_msgs)
for rec_msg, sent_msg in zip(recvd_msgs, sent_msgs):
assert rec_msg == sent_msg
def test_receive_timeout(self): def test_receive_timeout(self):
sock = random_sock() sock = random_sock()

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@ -1,12 +1,13 @@
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. ---> <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
# Support Information for 350 Known Cars # Support Information for 360 Known Cars
|Make|Model|Package|Support Level| |Make|Model|Package|Support Level|
|---|---|---|:---:| |---|---|---|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|[Upstream](#upstream)| |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|[Upstream](#upstream)|
|Acura|ILX 2019|All|[Upstream](#upstream)|
|Acura|Integra 2024|All|[Community](#community)| |Acura|Integra 2024|All|[Community](#community)|
|Acura|RDX 2016-18|AcuraWatch Plus|[Upstream](#upstream)| |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
|Acura|RDX 2019-21|All|[Upstream](#upstream)| |Acura|RDX 2019-21|All|[Upstream](#upstream)|
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@ -32,17 +33,22 @@
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|Escape 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)| |Ford|Escape 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|Escape 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)| |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)| |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)| |Ford|Explorer 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)| |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)| |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)|
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Kuga Plug-in Hybrid 2024|All|[Upstream](#upstream)|
|Ford|Maverick 2022|LARIAT Luxury|[Upstream](#upstream)| |Ford|Maverick 2022|LARIAT Luxury|[Upstream](#upstream)|
|Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)| |Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
|Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)| |Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
@ -73,6 +79,8 @@
|Honda|Civic 2022-24|All|[Upstream](#upstream)| |Honda|Civic 2022-24|All|[Upstream](#upstream)|
|Honda|Civic Hatchback 2017-21|Honda Sensing|[Upstream](#upstream)| |Honda|Civic Hatchback 2017-21|Honda Sensing|[Upstream](#upstream)|
|Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)| |Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)|
|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|[Upstream](#upstream)|
|Honda|Civic Hatchback Hybrid 2025|All|[Upstream](#upstream)|
|Honda|Clarity 2018-21|All|[Community](#community)| |Honda|Clarity 2018-21|All|[Community](#community)|
|Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)| |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
|Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)| |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
@ -83,13 +91,14 @@
|Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)| |Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
|Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)| |Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)|
|Honda|HR-V 2019-22|Honda Sensing|[Upstream](#upstream)| |Honda|HR-V 2019-22|Honda Sensing|[Upstream](#upstream)|
|Honda|HR-V 2023|All|[Upstream](#upstream)| |Honda|HR-V 2023-25|All|[Upstream](#upstream)|
|Honda|Insight 2019-22|All|[Upstream](#upstream)| |Honda|Insight 2019-22|All|[Upstream](#upstream)|
|Honda|Inspire 2018|All|[Upstream](#upstream)| |Honda|Inspire 2018|All|[Upstream](#upstream)|
|Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)| |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
|Honda|Odyssey 2021-25|All|[Community](#community)| |Honda|Odyssey 2021-25|All|[Community](#community)|
|Honda|Passport 2019-23|All|[Upstream](#upstream)| |Honda|Passport 2019-25|All|[Upstream](#upstream)|
|Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)| |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
|Honda|Pilot 2023|All|[Dashcam mode](#dashcam)|
|Honda|Pilot 2023-24|All|[Community](#community)| |Honda|Pilot 2023-24|All|[Community](#community)|
|Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)| |Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
|Hyundai|Azera 2022|All|[Upstream](#upstream)| |Hyundai|Azera 2022|All|[Upstream](#upstream)|
@ -155,7 +164,7 @@
|Kia|Niro EV 2020|All|[Upstream](#upstream)| |Kia|Niro EV 2020|All|[Upstream](#upstream)|
|Kia|Niro EV 2021|All|[Upstream](#upstream)| |Kia|Niro EV 2021|All|[Upstream](#upstream)|
|Kia|Niro EV 2022|All|[Upstream](#upstream)| |Kia|Niro EV 2022|All|[Upstream](#upstream)|
|Kia|Niro EV 2023|All|[Upstream](#upstream)| |Kia|Niro EV 2023-24|All|[Upstream](#upstream)|
|Kia|Niro Hybrid 2018|All|[Upstream](#upstream)| |Kia|Niro Hybrid 2018|All|[Upstream](#upstream)|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|[Upstream](#upstream)| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@ -195,6 +204,7 @@
|Lexus|NX Hybrid 2018-19|All|[Upstream](#upstream)| |Lexus|NX Hybrid 2018-19|All|[Upstream](#upstream)|
|Lexus|NX Hybrid 2020-21|All|[Upstream](#upstream)| |Lexus|NX Hybrid 2020-21|All|[Upstream](#upstream)|
|Lexus|RC 2018-20|All|[Upstream](#upstream)| |Lexus|RC 2018-20|All|[Upstream](#upstream)|
|Lexus|RC 2023|All|[Upstream](#upstream)|
|Lexus|RX 2016|Lexus Safety System+|[Upstream](#upstream)| |Lexus|RX 2016|Lexus Safety System+|[Upstream](#upstream)|
|Lexus|RX 2017-19|All|[Upstream](#upstream)| |Lexus|RX 2017-19|All|[Upstream](#upstream)|
|Lexus|RX 2020-22|All|[Upstream](#upstream)| |Lexus|RX 2020-22|All|[Upstream](#upstream)|
@ -254,7 +264,7 @@
|Škoda|Scala 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)| |Škoda|Scala 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)| |Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|Tesla|Model 3 (with HW3) 2019-23|All|[Upstream](#upstream)| |Tesla|Model 3 (with HW3) 2019-23|All|[Upstream](#upstream)|
|Tesla|Model 3 (with HW4) 2024|All|[Upstream](#upstream)| |Tesla|Model 3 (with HW4) 2024-25|All|[Upstream](#upstream)|
|Tesla|Model Y (with HW3) 2020-23|All|[Upstream](#upstream)| |Tesla|Model Y (with HW3) 2020-23|All|[Upstream](#upstream)|
|Tesla|Model Y (with HW4) 2024|All|[Upstream](#upstream)| |Tesla|Model Y (with HW4) 2024|All|[Upstream](#upstream)|
|Toyota|Alphard 2019-20|All|[Upstream](#upstream)| |Toyota|Alphard 2019-20|All|[Upstream](#upstream)|
@ -299,7 +309,7 @@
|Toyota|RAV4 2017-18|All|[Upstream](#upstream)| |Toyota|RAV4 2017-18|All|[Upstream](#upstream)|
|Toyota|RAV4 2019-21|All|[Upstream](#upstream)| |Toyota|RAV4 2019-21|All|[Upstream](#upstream)|
|Toyota|RAV4 2022|All|[Upstream](#upstream)| |Toyota|RAV4 2022|All|[Upstream](#upstream)|
|Toyota|RAV4 2023-24|All|[Upstream](#upstream)| |Toyota|RAV4 2023-25|All|[Upstream](#upstream)|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[Upstream](#upstream)| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[Upstream](#upstream)|
|Toyota|RAV4 Hybrid 2017-18|All|[Upstream](#upstream)| |Toyota|RAV4 Hybrid 2017-18|All|[Upstream](#upstream)|
|Toyota|RAV4 Hybrid 2019-21|All|[Upstream](#upstream)| |Toyota|RAV4 Hybrid 2019-21|All|[Upstream](#upstream)|

4
opendbc_repo/opendbc/can/common.pxd
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@ -85,5 +85,5 @@ cdef extern from "common.h":
MessageState *getMessageState(uint32_t address) nogil MessageState *getMessageState(uint32_t address) nogil
cdef cppclass CANPacker: cdef cppclass CANPacker:
CANPacker(string) CANPacker(string) nogil
vector[uint8_t] pack(uint32_t, vector[SignalPackValue]&) vector[uint8_t] pack(uint32_t, vector[SignalPackValue]&) nogil

4
opendbc_repo/opendbc/can/dbc.cc
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@ -57,9 +57,9 @@ ChecksumState* get_checksum(const std::string& dbc_name) {
s = new ChecksumState({8, -1, 7, -1, false, TOYOTA_CHECKSUM, &toyota_checksum}); s = new ChecksumState({8, -1, 7, -1, false, TOYOTA_CHECKSUM, &toyota_checksum});
} else if (startswith(dbc_name, "hyundai_canfd_generated")) { } else if (startswith(dbc_name, "hyundai_canfd_generated")) {
s = new ChecksumState({16, -1, 0, -1, true, HKG_CAN_FD_CHECKSUM, &hkg_can_fd_checksum}); s = new ChecksumState({16, -1, 0, -1, true, HKG_CAN_FD_CHECKSUM, &hkg_can_fd_checksum});
} else if (startswith(dbc_name, {"vw_mqb_2010", "vw_mqbevo", "vw_meb"})) { } else if (startswith(dbc_name, {"vw_mqb", "vw_mqbevo", "vw_meb"})) {
s = new ChecksumState({8, 4, 0, 0, true, VOLKSWAGEN_MQB_MEB_CHECKSUM, &volkswagen_mqb_meb_checksum}); s = new ChecksumState({8, 4, 0, 0, true, VOLKSWAGEN_MQB_MEB_CHECKSUM, &volkswagen_mqb_meb_checksum});
} else if (startswith(dbc_name, "vw_golf_mk4")) { } else if (startswith(dbc_name, "vw_pq")) {
s = new ChecksumState({8, 4, 0, -1, true, XOR_CHECKSUM, &xor_checksum}); s = new ChecksumState({8, 4, 0, -1, true, XOR_CHECKSUM, &xor_checksum});
} else if (startswith(dbc_name, "subaru_global_")) { } else if (startswith(dbc_name, "subaru_global_")) {
s = new ChecksumState({8, -1, 0, -1, true, SUBARU_CHECKSUM, &subaru_checksum}); s = new ChecksumState({8, -1, 0, -1, true, SUBARU_CHECKSUM, &subaru_checksum});

23
opendbc_repo/opendbc/can/packer_pyx.pyx
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@ -2,6 +2,7 @@
# cython: c_string_encoding=ascii, language_level=3 # cython: c_string_encoding=ascii, language_level=3
from libc.stdint cimport uint8_t, uint32_t from libc.stdint cimport uint8_t, uint32_t
from libcpp.string cimport string
from libcpp.vector cimport vector from libcpp.vector cimport vector
from .common cimport CANPacker as cpp_CANPacker from .common cimport CANPacker as cpp_CANPacker
@ -18,23 +19,37 @@ cdef class CANPacker:
if not self.dbc: if not self.dbc:
raise RuntimeError(f"Can't lookup {dbc_name}") raise RuntimeError(f"Can't lookup {dbc_name}")
self.packer = new cpp_CANPacker(dbc_name) cdef string cpp_dbc_name
if isinstance(dbc_name, str):
cpp_dbc_name = dbc_name.encode('utf-8')
else:
cpp_dbc_name = dbc_name
with nogil:
self.packer = new cpp_CANPacker(cpp_dbc_name)
def __dealloc__(self): def __dealloc__(self):
if self.packer: if self.packer:
with nogil:
del self.packer del self.packer
cdef vector[uint8_t] pack(self, addr, values): cdef vector[uint8_t] pack(self, addr, values):
cdef vector[SignalPackValue] values_thing cdef vector[SignalPackValue] values_thing
values_thing.reserve(len(values)) cdef uint32_t value_len = len(values)
cdef SignalPackValue spv with nogil:
values_thing.reserve(value_len)
cdef SignalPackValue spv
for name, value in values.iteritems(): for name, value in values.iteritems():
spv.name = name.encode("utf8") spv.name = name.encode("utf8")
spv.value = value spv.value = value
with nogil:
values_thing.push_back(spv) values_thing.push_back(spv)
return self.packer.pack(addr, values_thing) cdef vector[uint8_t] result
cdef uint32_t addr_cpp = addr
with nogil:
result = self.packer.pack(addr_cpp, values_thing)
return result
cpdef make_can_msg(self, name_or_addr, bus, values): cpdef make_can_msg(self, name_or_addr, bus, values):
cdef uint32_t addr = 0 cdef uint32_t addr = 0

2
opendbc_repo/opendbc/can/tests/test_checksums.py
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@ -93,7 +93,7 @@ class TestCanChecksums:
def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'): def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'):
"""Test AUTOSAR E2E Profile 2 CRCs""" """Test AUTOSAR E2E Profile 2 CRCs"""
assert len(test_messages) == 16 # All counter values must be tested assert len(test_messages) == 16 # All counter values must be tested
self.verify_checksum(subtests, "vw_mqb_2010", msg_name, msg_addr, test_messages, counter_field=counter_field) self.verify_checksum(subtests, "vw_mqb", msg_name, msg_addr, test_messages, counter_field=counter_field)
def test_volkswagen_mqb_crc_lwi_01(self, subtests): def test_volkswagen_mqb_crc_lwi_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "LWI_01", 0x86, [ self.verify_volkswagen_mqb_crc(subtests, "LWI_01", 0x86, [

13
opendbc_repo/opendbc/car/__init__.py
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@ -98,13 +98,16 @@ class Bus(StrEnum):
ap_party = auto() ap_party = auto()
def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
# some safety modes utilize a dynamic max steer
if steer_max is None:
steer_max = LIMITS.STEER_MAX
# limits due to driver torque # 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 driver_max_torque = steer_max + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER driver_min_torque = -steer_max + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0) max_steer_allowed = max(min(steer_max, driver_max_torque), 0)
min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0) min_steer_allowed = min(max(-steer_max, driver_min_torque), 0)
apply_torque = np.clip(apply_torque, min_steer_allowed, max_steer_allowed) apply_torque = np.clip(apply_torque, min_steer_allowed, max_steer_allowed)
# slow rate if steer torque increases in magnitude # slow rate if steer torque increases in magnitude

2
opendbc_repo/opendbc/car/body/interface.py
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@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
CarController = CarController CarController = CarController
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.notCar = True ret.notCar = True
ret.brand = "body" ret.brand = "body"
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)] ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]

7
opendbc_repo/opendbc/car/car.capnp
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@ -194,10 +194,12 @@ struct CarState {
steeringTorque @8 :Float32; # TODO: standardize units steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units steeringTorqueEps @27 :Float32; # TODO: standardize units
steeringPressed @9 :Bool; # if the user is using the steering wheel steeringPressed @9 :Bool; # if the user is using the steering wheel
steeringDisengage @58 :Bool; # more force than steeringPressed, disengages for applicable brands
steerFaultTemporary @35 :Bool; # temporary EPS fault steerFaultTemporary @35 :Bool; # temporary EPS fault
steerFaultPermanent @36 :Bool; # permanent EPS fault steerFaultPermanent @36 :Bool; # permanent EPS fault
invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off) invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off)
stockAeb @30 :Bool; stockAeb @30 :Bool;
stockLkas @59 :Bool;
stockFcw @31 :Bool; stockFcw @31 :Bool;
espDisabled @32 :Bool; espDisabled @32 :Bool;
accFaulted @42 :Bool; accFaulted @42 :Bool;
@ -466,14 +468,15 @@ struct CarParams {
enableDsu @5 :Bool; # driving support unit enableDsu @5 :Bool; # driving support unit
enableBsm @56 :Bool; # blind spot monitoring enableBsm @56 :Bool; # blind spot monitoring
flags @64 :UInt32; # flags for car specific quirks flags @64 :UInt32; # flags for car specific quirks
experimentalLongitudinalAvailable @71 :Bool; alphaLongitudinalAvailable @71 :Bool;
minEnableSpeed @7 :Float32; minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32; minSteerSpeed @8 :Float32;
steerAtStandstill @77 :Bool; # is steering available at standstill? just check if it faults
safetyConfigs @62 :List(SafetyConfig); safetyConfigs @62 :List(SafetyConfig);
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
# Car docs fields # Car docs fields, not used for control
maxLateralAccel @68 :Float32; maxLateralAccel @68 :Float32;
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically

4
opendbc_repo/opendbc/car/car_helpers.py
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@ -148,7 +148,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
return car_fingerprint, finger, vin, car_fw, source, exact_match return car_fingerprint, finger, vin, car_fw, source, exact_match
def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, experimental_long_allowed: bool, def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
num_pandas: int = 1, cached_params: CarParamsT | None = None): num_pandas: int = 1, cached_params: CarParamsT | None = None):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params) candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
@ -157,7 +157,7 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
candidate = "MOCK" candidate = "MOCK"
CarInterface = interfaces[candidate] CarInterface = interfaces[candidate]
CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False) CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, docs=False)
CP.carVin = vin CP.carVin = vin
CP.carFw = car_fw CP.carFw = car_fw
CP.fingerprintSource = source CP.fingerprintSource = source

2
opendbc_repo/opendbc/car/chrysler/interface.py
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@ -13,7 +13,7 @@ class CarInterface(CarInterfaceBase):
RadarInterface = RadarInterface RadarInterface = RadarInterface
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "chrysler" ret.brand = "chrysler"
ret.dashcamOnly = candidate in RAM_HD ret.dashcamOnly = candidate in RAM_HD

2
opendbc_repo/opendbc/car/docs.py
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@ -32,7 +32,7 @@ def get_params_for_docs(platform) -> CarParams:
cp_platform = platform if platform in interfaces else MOCK.MOCK cp_platform = platform if platform in interfaces else MOCK.MOCK
CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(), CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)], car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
experimental_long=True, docs=True) alpha_long=True, docs=True)
return CP return CP

31
opendbc_repo/opendbc/car/docs_definitions.py
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@ -75,7 +75,7 @@ class Mount(EnumBase):
class Cable(EnumBase): class Cable(EnumBase):
long_obdc_cable = BasePart("long OBD-C cable") long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
usb_a_2_a_cable = BasePart("USB A-A cable") usb_a_2_a_cable = BasePart("USB A-A cable")
usbc_otg_cable = BasePart("USB C OTG cable") usbc_otg_cable = BasePart("USB C OTG cable")
usbc_coupler = BasePart("USB-C coupler") usbc_coupler = BasePart("USB-C coupler")
@ -85,12 +85,12 @@ class Cable(EnumBase):
class Accessory(EnumBase): class Accessory(EnumBase):
harness_box = BasePart("harness box") harness_box = BasePart("harness box")
comma_power_v2 = BasePart("comma power v2") comma_power = BasePart("comma power v3")
@dataclass @dataclass
class BaseCarHarness(BasePart): class BaseCarHarness(BasePart):
parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2]) parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power])
has_connector: bool = True # without are hidden on the harness connector page has_connector: bool = True # without are hidden on the harness connector page
@ -108,7 +108,7 @@ class CarHarness(EnumBase):
fca = BaseCarHarness("FCA connector") fca = BaseCarHarness("FCA connector")
ram = BaseCarHarness("Ram connector") ram = BaseCarHarness("Ram connector")
vw_a = BaseCarHarness("VW A connector") vw_a = BaseCarHarness("VW A connector")
vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler, Accessory.comma_power_v2]) vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
hyundai_a = BaseCarHarness("Hyundai A connector") hyundai_a = BaseCarHarness("Hyundai A connector")
hyundai_b = BaseCarHarness("Hyundai B connector") hyundai_b = BaseCarHarness("Hyundai B connector")
hyundai_c = BaseCarHarness("Hyundai C connector") hyundai_c = BaseCarHarness("Hyundai C connector")
@ -128,17 +128,17 @@ class CarHarness(EnumBase):
hyundai_q = BaseCarHarness("Hyundai Q connector") hyundai_q = BaseCarHarness("Hyundai Q connector")
hyundai_r = BaseCarHarness("Hyundai R connector") hyundai_r = BaseCarHarness("Hyundai R connector")
custom = BaseCarHarness("Developer connector") custom = BaseCarHarness("Developer connector")
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False) obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box]) gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler, Accessory.comma_power_v2]) gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
mazda = BaseCarHarness("Mazda connector") mazda = BaseCarHarness("Mazda connector")
ford_q3 = BaseCarHarness("Ford Q3 connector") ford_q3 = BaseCarHarness("Ford Q3 connector")
ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power_v2, Cable.long_obdc_cable, Cable.usbc_coupler]) ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
class Device(EnumBase): class Device(EnumBase):
@ -190,7 +190,7 @@ class CarParts:
return self.parts + parts return self.parts + parts
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False)) CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "setup_note"], defaults=(False, False))
class CommonFootnote(Enum): class CommonFootnote(Enum):
@ -255,6 +255,7 @@ class CarDocs:
requirements: str | None = None requirements: str | None = None
video_link: str | None = None video_link: str | None = None
setup_video_link: str | None = None
footnotes: list[Enum] = field(default_factory=list) footnotes: list[Enum] = field(default_factory=list)
min_steer_speed: float | None = None min_steer_speed: float | None = None
min_enable_speed: float | None = None min_enable_speed: float | None = None
@ -284,7 +285,7 @@ class CarDocs:
# longitudinal column # longitudinal column
op_long = "Stock" op_long = "Stock"
if CP.experimentalLongitudinalAvailable or CP.enableDsu: if CP.alphaLongitudinalAvailable or CP.enableDsu:
op_long = "openpilot available" op_long = "openpilot available"
if CP.enableDsu: if CP.enableDsu:
self.footnotes.append(CommonFootnote.EXP_LONG_DSU) self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
@ -382,7 +383,7 @@ class CarDocs:
# experimental mode # experimental mode
exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='highlight'>Experimental mode</a>" exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='highlight'>Experimental mode</a>"
if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable: if CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable:
sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}." sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc) return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)

9
opendbc_repo/opendbc/car/ford/carcontroller.py
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@ -4,18 +4,15 @@ from opendbc.can.packer import CANPacker
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_std_steer_angle_limits, structs from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_std_steer_angle_limits, structs
from opendbc.car.ford import fordcan from opendbc.car.ford import fordcan
from opendbc.car.ford.values import CarControllerParams, FordFlags from opendbc.car.ford.values import CarControllerParams, FordFlags
from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX from opendbc.car.interfaces import CarControllerBase, ISO_LATERAL_ACCEL, V_CRUISE_MAX
LongCtrlState = structs.CarControl.Actuators.LongControlState LongCtrlState = structs.CarControl.Actuators.LongControlState
VisualAlert = structs.CarControl.HUDControl.VisualAlert VisualAlert = structs.CarControl.HUDControl.VisualAlert
# ISO 11270 # CAN FD limits:
ISO_LATERAL_ACCEL = 3.0 # m/s^2 # TODO: import from test lateral limits file?
# Limit to average banked road since safety doesn't have the roll # Limit to average banked road since safety doesn't have the roll
EARTH_G = 9.81
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation
MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (EARTH_G * AVERAGE_ROAD_ROLL) # ~2.4 m/s^2 MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~2.4 m/s^2
def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active, CP): def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active, CP):

17
opendbc_repo/opendbc/car/ford/fingerprints.py
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@ -46,6 +46,20 @@ FW_VERSIONS = {
b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.FORD_ESCAPE_MK4_5: {
(Ecu.eps, 0x730, None): [
b'PZ11-14D003-EA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'PZ1C-2D053-EJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'PJ6T-14H102-ABL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_EXPLORER_MK6: { CAR.FORD_EXPLORER_MK6: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -80,6 +94,7 @@ FW_VERSIONS = {
b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.abs, 0x760, None): [ (Ecu.abs, 0x760, None): [
b'NL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PL34-2D053-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PL34-2D053-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PL3V-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PL3V-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -89,6 +104,7 @@ FW_VERSIONS = {
], ],
(Ecu.fwdCamera, 0x706, None): [ (Ecu.fwdCamera, 0x706, None): [
b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RJ6T-14H102-ACJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'RJ6T-14H102-ACJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
@ -96,6 +112,7 @@ FW_VERSIONS = {
CAR.FORD_F_150_LIGHTNING_MK1: { CAR.FORD_F_150_LIGHTNING_MK1: {
(Ecu.abs, 0x760, None): [ (Ecu.abs, 0x760, None): [
b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RL38-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.fwdCamera, 0x706, None): [ (Ecu.fwdCamera, 0x706, None): [
b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',

7
opendbc_repo/opendbc/car/ford/interface.py
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@ -26,13 +26,14 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) return CarControllerParams.ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "ford" ret.brand = "ford"
ret.radarUnavailable = Bus.radar not in DBC[candidate] ret.radarUnavailable = Bus.radar not in DBC[candidate]
ret.steerControlType = structs.CarParams.SteerControlType.angle ret.steerControlType = structs.CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
ret.steerLimitTimer = 1.0 ret.steerLimitTimer = 1.0
ret.steerAtStandstill = True
ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.5] ret.longitudinalTuning.kiV = [0.5]
@ -48,8 +49,8 @@ class CarInterface(CarInterfaceBase):
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput)) cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs ret.safetyConfigs = cfgs
ret.experimentalLongitudinalAvailable = ret.radarUnavailable ret.alphaLongitudinalAvailable = ret.radarUnavailable
if experimental_long or not ret.radarUnavailable: if alpha_long or not ret.radarUnavailable:
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True

13
opendbc_repo/opendbc/car/ford/values.py
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@ -79,6 +79,9 @@ class FordCarDocs(CarDocs):
else: else:
self.car_parts = CarParts([Device.threex, harness]) self.car_parts = CarParts([Device.threex, harness])
if harness == CarHarness.ford_q4:
self.setup_video_link = "https://www.youtube.com/watch?v=uUGkH6C_EQU"
@dataclass @dataclass
class FordPlatformConfig(PlatformConfig): class FordPlatformConfig(PlatformConfig):
@ -124,7 +127,15 @@ class CAR(Platforms):
FORD_ESCAPE_MK4 = FordPlatformConfig( FORD_ESCAPE_MK4 = FordPlatformConfig(
[ [
FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True), FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True), FordCarDocs("Ford Kuga 2020-23", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
],
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
)
FORD_ESCAPE_MK4_5 = FordCANFDPlatformConfig(
[
FordCarDocs("Ford Escape 2023-24", hybrid=True, plug_in_hybrid=True),
FordCarDocs("Ford Kuga Hybrid 2024", "All"),
FordCarDocs("Ford Kuga Plug-in Hybrid 2024", "All"),
], ],
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7), CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
) )

5
opendbc_repo/opendbc/car/fw_query_definitions.py
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@ -56,6 +56,11 @@ class StdQueries:
SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER) p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \

2
opendbc_repo/opendbc/car/gm/carcontroller.py
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@ -89,7 +89,7 @@ class CarController(CarControllerBase):
self.apply_gas = self.params.INACTIVE_REGEN self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0 self.apply_brake = 0
else: else:
self.apply_gas = int(round(np.interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) self.apply_gas = float(np.interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))
self.apply_brake = int(round(np.interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) self.apply_brake = int(round(np.interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping # Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop # FIXME: brakes aren't applied immediately when enabling at a stop

8
opendbc_repo/opendbc/car/gm/gmcan.py
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@ -56,16 +56,14 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
values = { values = {
"GasRegenCmdActive": enabled, "GasRegenCmdActive": enabled,
"RollingCounter": idx, "RollingCounter": idx,
"GasRegenCmdActiveInv": 1 - enabled,
"GasRegenCmd": throttle, "GasRegenCmd": throttle,
"GasRegenFullStopActive": at_full_stop, "GasRegenFullStopActive": at_full_stop,
"GasRegenAlwaysOne": 1, "GasRegenAccType": 1,
"GasRegenAlwaysOne2": 1,
"GasRegenAlwaysOne3": 1,
} }
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1] dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \ values["GasRegenChecksum"] = ((1 - enabled) << 24) | \
(((0xff - dat[1]) & 0xff) << 16) | \
(((0xff - dat[2]) & 0xff) << 8) | \ (((0xff - dat[2]) & 0xff) << 8) | \
((0x100 - dat[3] - idx) & 0xff) ((0x100 - dat[3] - idx) & 0xff)

13
opendbc_repo/opendbc/car/gm/interface.py
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@ -7,7 +7,7 @@ from opendbc.car.common.basedir import BASEDIR
from opendbc.car.common.conversions import Conversions as CV from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.carcontroller import CarController from opendbc.car.gm.carcontroller import CarController
from opendbc.car.gm.carstate import CarState from opendbc.car.gm.carstate import CarState
from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMERA_DATA_HEADER_MSG
from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
@ -85,7 +85,7 @@ class CarInterface(CarInterfaceBase):
return self.torque_from_lateral_accel_linear return self.torque_from_lateral_accel_linear
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "gm" ret.brand = "gm"
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)] ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False ret.autoResumeSng = False
@ -100,7 +100,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiBP = [5., 35.] ret.longitudinalTuning.kiBP = [5., 35.]
if candidate in (CAMERA_ACC_CAR | SDGM_CAR): if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
ret.experimentalLongitudinalAvailable = candidate not in SDGM_CAR ret.alphaLongitudinalAvailable = candidate not in SDGM_CAR
ret.networkLocation = NetworkLocation.fwdCamera ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = True # no radar ret.radarUnavailable = True # no radar
ret.pcmCruise = True ret.pcmCruise = True
@ -114,20 +114,21 @@ class CarInterface(CarInterfaceBase):
ret.vEgoStopping = 0.25 ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25 ret.vEgoStarting = 0.25
if experimental_long: if alpha_long:
ret.pcmCruise = False ret.pcmCruise = False
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value
if candidate in ALT_ACCS: if candidate in ALT_ACCS:
ret.experimentalLongitudinalAvailable = False ret.alphaLongitudinalAvailable = False
ret.openpilotLongitudinalControl = False ret.openpilotLongitudinalControl = False
ret.minEnableSpeed = -1. # engage speed is decided by PCM ret.minEnableSpeed = -1. # engage speed is decided by PCM
else: # ASCM, OBD-II harness else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway ret.networkLocation = NetworkLocation.gateway
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs # LRR messages can take up to a few seconds to start sending after ignition, check camera data as well which starts earlier
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and CAMERA_DATA_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
ret.pcmCruise = False # stock non-adaptive cruise control is kept off ret.pcmCruise = False # stock non-adaptive cruise control is kept off
# supports stop and go, but initial engage must (conservatively) be above 18mph # supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.minEnableSpeed = 18 * CV.MPH_TO_MS

3
opendbc_repo/opendbc/car/gm/radar_interface.py
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@ -6,7 +6,8 @@ from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.values import DBC, CanBus from opendbc.car.gm.values import DBC, CanBus
from opendbc.car.interfaces import RadarInterfaceBase from opendbc.car.interfaces import RadarInterfaceBase
RADAR_HEADER_MSG = 1120 RADAR_HEADER_MSG = 1120 # F_LRR_Obj_Header
CAMERA_DATA_HEADER_MSG = 1056 # F_Vision_Obj_Header
SLOT_1_MSG = RADAR_HEADER_MSG + 1 SLOT_1_MSG = RADAR_HEADER_MSG + 1
NUM_SLOTS = 20 NUM_SLOTS = 20

28
opendbc_repo/opendbc/car/gm/values.py
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@ -1,9 +1,9 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from enum import IntFlag from enum import Enum, IntFlag
from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
from opendbc.car.structs import CarParams from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = CarParams.Ecu Ecu = CarParams.Ecu
@ -34,27 +34,26 @@ class CarControllerParams:
def __init__(self, CP): def __init__(self, CP):
# Gas/brake lookups # Gas/brake lookups
self.ZERO_GAS = 2048 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR): if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR):
self.MAX_GAS = 3400 self.MAX_GAS = 1346.0
self.MAX_ACC_REGEN = 1514 self.MAX_ACC_REGEN = -540.0
self.INACTIVE_REGEN = 1554 self.INACTIVE_REGEN = -500.0
# Camera ACC vehicles have no regen while enabled. # Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly # Camera transitions to MAX_ACC_REGEN from zero gas and uses friction brakes instantly
max_regen_acceleration = 0. max_regen_acceleration = 0.
else: else:
self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. self.MAX_GAS = 1018.0 # Safety limit, not ACC max. Stock ACC >2042 from standstill.
self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen self.MAX_ACC_REGEN = -650.0 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 1404 self.INACTIVE_REGEN = -650.0
# ICE has much less engine braking force compared to regen in EVs, # ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone # lower threshold removes some braking deadzone
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1 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_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS] self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, 0., self.MAX_GAS]
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration] self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.] self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
@ -66,6 +65,12 @@ class GMSafetyFlags(IntFlag):
EV = 4 EV = 4
class Footnote(Enum):
SETUP = CarFootnote(
"See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/gm\" target=\"_blank\">GM</a>.",
Column.MAKE, setup_note=True)
@dataclass @dataclass
class GMCarDocs(CarDocs): class GMCarDocs(CarDocs):
package: str = "Adaptive Cruise Control (ACC)" package: str = "Adaptive Cruise Control (ACC)"
@ -77,6 +82,7 @@ class GMCarDocs(CarDocs):
else: else:
self.car_parts = CarParts.common([CarHarness.gm]) self.car_parts = CarParts.common([CarHarness.gm])
else: else:
self.footnotes.insert(0, Footnote.SETUP)
self.car_parts = CarParts.common([CarHarness.obd_ii]) self.car_parts = CarParts.common([CarHarness.obd_ii])

16
opendbc_repo/opendbc/car/honda/carstate.py
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@ -6,7 +6,7 @@ from opendbc.can.parser import CANParser
from opendbc.car import Bus, create_button_events, structs from opendbc.car import Bus, create_button_events, structs
from opendbc.car.common.conversions import Conversions as CV from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion
from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \ from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \ HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
HondaFlags, CruiseButtons, CruiseSettings, GearShifter HondaFlags, CruiseButtons, CruiseSettings, GearShifter
from opendbc.car.interfaces import CarStateBase from opendbc.car.interfaces import CarStateBase
@ -68,13 +68,9 @@ def get_can_messages(CP, gearbox_msg):
else: else:
messages.append(("CRUISE_PARAMS", 50)) messages.append(("CRUISE_PARAMS", 50))
# TODO: clean this up if CP.carFingerprint not in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV, *HONDA_BOSCH_RADARLESS,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G): *HONDA_BOSCH_CANFD):
pass
elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
pass
else:
messages.append(("DOORS_STATUS", 3)) messages.append(("DOORS_STATUS", 3))
if CP.carFingerprint in HONDA_BOSCH_RADARLESS: if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
@ -92,6 +88,8 @@ class CarState(CarStateBase):
self.gearbox_msg = "GEARBOX" self.gearbox_msg = "GEARBOX"
if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt: if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
self.gearbox_msg = "GEARBOX_15T" self.gearbox_msg = "GEARBOX_15T"
elif CP.carFingerprint == CAR.HONDA_CIVIC_2022 and CP.transmissionType == TransmissionType.cvt:
self.gearbox_msg = "GEARBOX_ALT"
elif CP.transmissionType == TransmissionType.manual: elif CP.transmissionType == TransmissionType.manual:
self.gearbox_msg = "GEARBOX_ALT_2" self.gearbox_msg = "GEARBOX_ALT_2"
@ -139,7 +137,7 @@ class CarState(CarStateBase):
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# TODO: find a common signal across all cars # TODO: find a common signal across all cars
if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT, if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G): CAR.ACURA_RDX_3G, CAR.HONDA_E, *HONDA_BOSCH_RADARLESS, *HONDA_BOSCH_CANFD):
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV): elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])

24
opendbc_repo/opendbc/car/honda/fingerprints.py
Unescape View File

@ -866,7 +866,10 @@ FW_VERSIONS = {
b'39990-T38-A040\x00\x00', b'39990-T38-A040\x00\x00',
b'39990-T39-A130\x00\x00', b'39990-T39-A130\x00\x00',
b'39990-T43-J020\x00\x00', b'39990-T43-J020\x00\x00',
b'39990-T43-J030\x00\x00',
b'39990-T60-J030\x00\x00', b'39990-T60-J030\x00\x00',
b'39990-T56-A040\x00\x00',
b'39990-T50-J030\x00\x00',
], ],
(Ecu.gateway, 0x18daeff1, None): [ (Ecu.gateway, 0x18daeff1, None): [
b'38897-T20-A020\x00\x00', b'38897-T20-A020\x00\x00',
@ -876,7 +879,10 @@ FW_VERSIONS = {
b'38897-T21-A010\x00\x00', b'38897-T21-A010\x00\x00',
b'38897-T22-A110\x00\x00', b'38897-T22-A110\x00\x00',
b'38897-T24-Z120\x00\x00', b'38897-T24-Z120\x00\x00',
b'38897-T47-AA20\x00\x00',
b'38897-T60-A110\x00\x00', b'38897-T60-A110\x00\x00',
b'38897-T61-A320\x00\x00',
b'38897-T50-E310\x00\x00',
], ],
(Ecu.srs, 0x18da53f1, None): [ (Ecu.srs, 0x18da53f1, None): [
b'77959-T20-A970\x00\x00', b'77959-T20-A970\x00\x00',
@ -886,6 +892,9 @@ FW_VERSIONS = {
b'77959-T47-A940\x00\x00', b'77959-T47-A940\x00\x00',
b'77959-T47-A950\x00\x00', b'77959-T47-A950\x00\x00',
b'77959-T60-A920\x00\x00', b'77959-T60-A920\x00\x00',
b'77959-T61-A920\x00\x00',
b'77959-T50-G930\x00\x00',
b'77959-T65-A920\x00\x00',
], ],
(Ecu.fwdRadar, 0x18dab0f1, None): [ (Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T20-A060\x00\x00', b'36161-T20-A060\x00\x00',
@ -895,16 +904,23 @@ FW_VERSIONS = {
b'36161-T38-A060\x00\x00', b'36161-T38-A060\x00\x00',
b'36161-T47-A050\x00\x00', b'36161-T47-A050\x00\x00',
b'36161-T47-A070\x00\x00', b'36161-T47-A070\x00\x00',
b'8S102-T47-AA20\x00\x00',
b'8S102-T20-AA10\x00\x00', b'8S102-T20-AA10\x00\x00',
b'8S102-T47-AA10\x00\x00', b'8S102-T47-AA10\x00\x00',
b'8S102-T60-AA10\x00\x00', b'8S102-T60-AA10\x00\x00',
b'8S102-T56-A060\x00\x00',
b'8S102-T50-EA10\x00\x00',
b'8S102-T64-A040\x00\x00',
], ],
(Ecu.vsa, 0x18da28f1, None): [ (Ecu.vsa, 0x18da28f1, None): [
b'57114-T20-AB40\x00\x00', b'57114-T20-AB40\x00\x00',
b'57114-T24-TB30\x00\x00', b'57114-T24-TB30\x00\x00',
b'57114-T38-AA20\x00\x00', b'57114-T38-AA20\x00\x00',
b'57114-T43-JA30\x00\x00',
b'57114-T43-JB30\x00\x00', b'57114-T43-JB30\x00\x00',
b'57114-T60-AA20\x00\x00', b'57114-T60-AA20\x00\x00',
b'57114-T61-AJ30\x00\x00',
b'57114-T50-JC20\x00\x00',
], ],
(Ecu.transmission, 0x18da1ef1, None): [ (Ecu.transmission, 0x18da1ef1, None): [
b'28101-65D-A020\x00\x00', b'28101-65D-A020\x00\x00',
@ -914,4 +930,12 @@ FW_VERSIONS = {
b'28101-65J-N010\x00\x00', b'28101-65J-N010\x00\x00',
], ],
}, },
CAR.HONDA_PILOT_4G: {
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'8S102-T90-A050\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'8S302-T90-A040\x00\x00',
],
},
} }

14
opendbc_repo/opendbc/car/honda/hondacan.py
Unescape View File

@ -1,6 +1,6 @@
from opendbc.car import CanBusBase from opendbc.car import CanBusBase
from opendbc.car.common.conversions import Conversions as CV from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams from opendbc.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_BOSCH_CANFD, CAR, CarControllerParams
# CAN bus layout with relay # CAN bus layout with relay
# 0 = ACC-CAN - radar side # 0 = ACC-CAN - radar side
@ -14,7 +14,8 @@ class CanBus(CanBusBase):
# use fingerprint if specified # use fingerprint if specified
super().__init__(CP if fingerprint is None else None, fingerprint) super().__init__(CP if fingerprint is None else None, fingerprint)
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS): # powertrain bus is split instead of radar on radarless and CAN FD Bosch
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD):
self._pt, self._radar = self.offset + 1, self.offset self._pt, self._radar = self.offset + 1, self.offset
# normally steering commands are sent to radar, which forwards them to powertrain bus # normally steering commands are sent to radar, which forwards them to powertrain bus
# when radar is disabled, steering commands are sent directly to powertrain bus # when radar is disabled, steering commands are sent directly to powertrain bus
@ -46,7 +47,7 @@ class CanBus(CanBusBase):
def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float: def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS return CV.MPH_TO_MS if car_fingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD) and not is_metric else CV.KPH_TO_MS
def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
@ -173,10 +174,13 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
'BEEP': 0, 'BEEP': 0,
} }
if CP.carFingerprint in HONDA_BOSCH_RADARLESS: if CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
lkas_hud_values['LANE_LINES'] = 3 lkas_hud_values['LANE_LINES'] = 3
lkas_hud_values['DASHED_LANES'] = hud.lanes_visible lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
# car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
# TODO: needed for Bosch CAN FD?
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM'] lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
if not (CP.flags & HondaFlags.BOSCH_EXT_HUD): if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
@ -206,6 +210,6 @@ def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
'CRUISE_BUTTONS': button_val, 'CRUISE_BUTTONS': button_val,
'CRUISE_SETTING': 0, 'CRUISE_SETTING': 0,
} }
# send buttons to camera on radarless cars # send buttons to camera on radarless (camera does ACC) cars
bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
return packer.make_can_msg("SCM_BUTTONS", bus, values) return packer.make_can_msg("SCM_BUTTONS", bus, values)

35
opendbc_repo/opendbc/car/honda/interface.py
Unescape View File

@ -4,7 +4,7 @@ from opendbc.car import get_safety_config, structs
from opendbc.car.common.conversions import Conversions as CV from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.disable_ecu import disable_ecu from opendbc.car.disable_ecu import disable_ecu
from opendbc.car.honda.hondacan import CanBus from opendbc.car.honda.hondacan import CanBus
from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \ from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
from opendbc.car.honda.carcontroller import CarController from opendbc.car.honda.carcontroller import CarController
from opendbc.car.honda.carstate import CarState from opendbc.car.honda.carstate import CarState
@ -31,19 +31,27 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "honda" ret.brand = "honda"
CAN = CanBus(ret, fingerprint) CAN = CanBus(ret, fingerprint)
# Recent test route is needed to undashcam these cars
ret.dashcamOnly = candidate in HONDA_BOSCH_CANFD
if candidate in HONDA_BOSCH: if candidate in HONDA_BOSCH:
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)] cfgs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
if candidate in HONDA_BOSCH_CANFD and CAN.pt >= 4:
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.radarUnavailable = True ret.radarUnavailable = True
# Disable the radar and let openpilot control longitudinal # Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB! # WARNING: THIS DISABLES AEB!
# If Bosch radarless, this blocks ACC messages from the camera # If Bosch radarless, this blocks ACC messages from the camera
ret.experimentalLongitudinalAvailable = True # TODO: get radar disable working on Bosch CANFD
ret.openpilotLongitudinalControl = experimental_long ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
ret.openpilotLongitudinalControl = alpha_long
ret.pcmCruise = not ret.openpilotLongitudinalControl ret.pcmCruise = not ret.openpilotLongitudinalControl
else: else:
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)] ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
@ -61,9 +69,12 @@ class CarInterface(CarInterfaceBase):
# Accord ICE 1.5T CVT has different gearbox message # Accord ICE 1.5T CVT has different gearbox message
if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]: if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
ret.transmissionType = TransmissionType.cvt ret.transmissionType = TransmissionType.cvt
# New Civics can have manual transmission # Civic Type R is missing 0x191 and 0x1A3
elif candidate == CAR.HONDA_CIVIC_2022 and 0x191 not in fingerprint[CAN.pt]: elif candidate == CAR.HONDA_CIVIC_2022 and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)):
ret.transmissionType = TransmissionType.manual ret.transmissionType = TransmissionType.manual
# New Civics dont have 0x191, but do have 0x1A3
elif candidate == CAR.HONDA_CIVIC_2022 and 0x1A3 in fingerprint[CAN.pt]:
ret.transmissionType = TransmissionType.cvt
# Certain Hondas have an extra steering sensor at the bottom of the steering rack, # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback. # which improves controls quality as it removes the steering column torsion from feedback.
@ -170,7 +181,7 @@ class CarInterface(CarInterfaceBase):
else: else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.HONDA_PILOT: elif candidate in (CAR.HONDA_PILOT, CAR.HONDA_PILOT_4G):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
@ -195,17 +206,17 @@ class CarInterface(CarInterfaceBase):
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE: if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
ret.safetyConfigs[0].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value
# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON) # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES: if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
ret.safetyConfigs[0].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= HondaSafetyFlags.BOSCH_LONG.value ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_LONG.value
if candidate in HONDA_BOSCH_RADARLESS: if candidate in HONDA_BOSCH_RADARLESS:
ret.safetyConfigs[0].safetyParam |= HondaSafetyFlags.RADARLESS.value ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
# min speed to enable ACC. if car can do stop and go, then set enabling speed # min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not

40
opendbc_repo/opendbc/car/honda/values.py
Unescape View File

@ -3,7 +3,7 @@ from enum import Enum, IntFlag
from opendbc.car import Bus, CarSpecs, PlatformConfig, Platforms, structs, uds from opendbc.car import Bus, CarSpecs, PlatformConfig, Platforms, structs, uds
from opendbc.car.common.conversions import Conversions as CV from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, Device
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = structs.CarParams.Ecu Ecu = structs.CarParams.Ecu
@ -68,6 +68,7 @@ class HondaFlags(IntFlag):
NIDEC_ALT_PCM_ACCEL = 32 NIDEC_ALT_PCM_ACCEL = 32
NIDEC_ALT_SCM_MESSAGES = 64 NIDEC_ALT_SCM_MESSAGES = 64
BOSCH_CANFD = 128
# Car button codes # Car button codes
class CruiseButtons: class CruiseButtons:
@ -101,9 +102,19 @@ class HondaCarDocs(CarDocs):
def init_make(self, CP: structs.CarParams): def init_make(self, CP: structs.CarParams):
if CP.flags & HondaFlags.BOSCH: if CP.flags & HondaFlags.BOSCH:
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) if CP.flags & HondaFlags.BOSCH_CANFD:
harness = CarHarness.bosch_c
elif CP.flags & HondaFlags.BOSCH_RADARLESS:
harness = CarHarness.bosch_b
else: else:
self.car_parts = CarParts.common([CarHarness.nidec]) harness = CarHarness.bosch_a
else:
harness = CarHarness.nidec
if CP.carFingerprint in (CAR.HONDA_PILOT_4G,):
self.car_parts = CarParts([Device.threex_angled_mount, harness])
else:
self.car_parts = CarParts.common([harness])
class Footnote(Enum): class Footnote(Enum):
@ -156,6 +167,9 @@ class CAR(Platforms):
[ [
HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hatchback Hybrid 2023 (Europe only)", "All"),
# TODO: Confirm 2024
HondaCarDocs("Honda Civic Hatchback Hybrid 2025", "All"),
], ],
HONDA_CIVIC_BOSCH.specs, HONDA_CIVIC_BOSCH.specs,
{Bus.pt: 'honda_civic_ex_2022_can_generated'}, {Bus.pt: 'honda_civic_ex_2022_can_generated'},
@ -175,7 +189,7 @@ class CAR(Platforms):
{Bus.pt: 'honda_accord_2018_can_generated'}, {Bus.pt: 'honda_accord_2018_can_generated'},
) )
HONDA_HRV_3G = HondaBoschPlatformConfig( HONDA_HRV_3G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda HR-V 2023", "All")], [HondaCarDocs("Honda HR-V 2023-25", "All")],
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5), CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
{Bus.pt: 'honda_civic_ex_2022_can_generated'}, {Bus.pt: 'honda_civic_ex_2022_can_generated'},
flags=HondaFlags.BOSCH_RADARLESS, flags=HondaFlags.BOSCH_RADARLESS,
@ -196,10 +210,19 @@ class CAR(Platforms):
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82), CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
{Bus.pt: 'acura_rdx_2020_can_generated'}, {Bus.pt: 'acura_rdx_2020_can_generated'},
) )
HONDA_PILOT_4G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda Pilot 2023", "All")],
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec
{Bus.pt: 'honda_pilot_2023_can_generated'},
flags=HondaFlags.BOSCH_CANFD | HondaFlags.BOSCH_ALT_BRAKE,
)
# Nidec Cars # Nidec Cars
ACURA_ILX = HondaNidecPlatformConfig( ACURA_ILX = HondaNidecPlatformConfig(
[HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)], [
HondaCarDocs("Acura ILX 2016-18", "Technology Plus Package or AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
HondaCarDocs("Acura ILX 2019", "All", min_steer_speed=25. * CV.MPH_TO_MS),
],
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
radar_dbc_dict('acura_ilx_2016_can_generated'), radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
@ -247,7 +270,7 @@ class CAR(Platforms):
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
ACURA_RDX = HondaNidecPlatformConfig( ACURA_RDX = HondaNidecPlatformConfig(
[HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)], [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus or Advance Package", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
radar_dbc_dict('acura_rdx_2018_can_generated'), radar_dbc_dict('acura_rdx_2018_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
@ -255,9 +278,9 @@ class CAR(Platforms):
HONDA_PILOT = HondaNidecPlatformConfig( HONDA_PILOT = HondaNidecPlatformConfig(
[ [
HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarDocs("Honda Passport 2019-25", "All", min_steer_speed=12. * CV.MPH_TO_MS),
], ],
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec HONDA_PILOT_4G.specs,
radar_dbc_dict('acura_ilx_2016_can_generated'), radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
@ -339,6 +362,7 @@ HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES) HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH) HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS) HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
DBC = CAR.create_dbc_map() DBC = CAR.create_dbc_map()

7
opendbc_repo/opendbc/car/hyundai/fingerprints.py
Unescape View File

@ -53,11 +53,13 @@ FW_VERSIONS = {
b'\xf1\x00AE MDPS C 1.00 1.05 56310/G2501 4AEHC105', b'\xf1\x00AE MDPS C 1.00 1.05 56310/G2501 4AEHC105',
b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107',
b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107',
b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2551 4AEHC107',
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222',
b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G7200 160418',
b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2400 180222', b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2400 180222',
b'\xf1\x00AEH MFC AT EUR RHD 1.00 1.00 95740-G2400 180222',
], ],
}, },
CAR.HYUNDAI_IONIQ_PHEV_2019: { CAR.HYUNDAI_IONIQ_PHEV_2019: {
@ -277,12 +279,14 @@ FW_VERSIONS = {
b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
b'\xf1\x00TM ESC \x04 103"\x07\x08 58910-S2GA0', b'\xf1\x00TM ESC \x04 103"\x07\x08 58910-S2GA0',
b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
b'\xf1\x00TM ESC \x1b 102 \x08\x08 58910-S1DA0',
b'\xf1\x00TM ESC 103!\x030 58910-S1MA0', b'\xf1\x00TM ESC 103!\x030 58910-S1MA0',
], ],
(Ecu.eps, 0x7d4, None): [ (Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101', b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19',
b'\xf1\x00TM MDPS R 1.00 1.05 57700-S1500 4TSDP105',
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224',
@ -728,9 +732,11 @@ FW_VERSIONS = {
}, },
CAR.KIA_NIRO_EV_2ND_GEN: { CAR.KIA_NIRO_EV_2ND_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00SG__ RDR ----- 1.00 1.00 99110-AT200 ',
b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ',
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SG2EMFC AT EUR LHD 1.00 1.00 99211-AT200 240315',
b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801',
b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801',
], ],
@ -1043,6 +1049,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y', b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A', b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9220 14K',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',

10
opendbc_repo/opendbc/car/hyundai/interface.py
Unescape View File

@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase):
RadarInterface = RadarInterface RadarInterface = RadarInterface
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "hyundai" ret.brand = "hyundai"
cam_can = CanBus(None, fingerprint).CAM cam_can = CanBus(None, fingerprint).CAM
@ -32,10 +32,10 @@ class CarInterface(CarInterfaceBase):
if ret.flags & HyundaiFlags.CANFD: if ret.flags & HyundaiFlags.CANFD:
# Shared configuration for CAN-FD cars # Shared configuration for CAN-FD cars
ret.experimentalLongitudinalAvailable = candidate not in CANFD_UNSUPPORTED_LONGITUDINAL_CAR ret.alphaLongitudinalAvailable = candidate not in CANFD_UNSUPPORTED_LONGITUDINAL_CAR
if lka_steering and Ecu.adas not in [fw.ecu for fw in car_fw]: if lka_steering and Ecu.adas not in [fw.ecu for fw in car_fw]:
# this needs to be figured out for cars without an ADAS ECU # this needs to be figured out for cars without an ADAS ECU
ret.experimentalLongitudinalAvailable = False ret.alphaLongitudinalAvailable = False
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN] ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
@ -79,7 +79,7 @@ class CarInterface(CarInterfaceBase):
else: else:
# Shared configuration for non CAN-FD cars # Shared configuration for non CAN-FD cars
ret.experimentalLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
ret.enableBsm = 0x58b in fingerprint[0] ret.enableBsm = 0x58b in fingerprint[0]
# Send LFA message on cars with HDA # Send LFA message on cars with HDA
@ -122,7 +122,7 @@ class CarInterface(CarInterfaceBase):
# Common longitudinal control setup # Common longitudinal control setup
ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint] ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.startingState = True ret.startingState = True
ret.vEgoStarting = 0.1 ret.vEgoStarting = 0.1

4
opendbc_repo/opendbc/car/hyundai/values.py
Unescape View File

@ -253,7 +253,7 @@ class CAR(Platforms):
HYUNDAI_KONA_2022 = HyundaiPlatformConfig( HYUNDAI_KONA_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona 2022", car_parts=CarParts.common([CarHarness.hyundai_o]))], [HyundaiCarDocs("Hyundai Kona 2022", car_parts=CarParts.common([CarHarness.hyundai_o]))],
CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CAMERA_SCC, flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
) )
HYUNDAI_KONA_EV = HyundaiPlatformConfig( HYUNDAI_KONA_EV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))], [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
@ -413,7 +413,7 @@ class CAR(Platforms):
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
) )
KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))], [HyundaiCarDocs("Kia Niro EV 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
KIA_NIRO_EV.specs, KIA_NIRO_EV.specs,
flags=HyundaiFlags.EV, flags=HyundaiFlags.EV,
) )

10
opendbc_repo/opendbc/car/interfaces.py
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@ -27,6 +27,10 @@ ACCEL_MAX = 2.0
ACCEL_MIN = -3.5 ACCEL_MIN = -3.5
FRICTION_THRESHOLD = 0.3 FRICTION_THRESHOLD = 0.3
# ISO 11270
ISO_LATERAL_ACCEL = 3.0 # m/s^2
ISO_LATERAL_JERK = 5.0 # m/s^3
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/params.toml') TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/params.toml')
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'torque_data/override.toml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'torque_data/override.toml')
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'torque_data/substitute.toml') TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'torque_data/substitute.toml')
@ -135,7 +139,7 @@ class CarInterfaceBase(ABC):
@classmethod @classmethod
def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw],
experimental_long: bool, docs: bool) -> structs.CarParams: alpha_long: bool, docs: bool) -> structs.CarParams:
ret = CarInterfaceBase.get_std_params(candidate) ret = CarInterfaceBase.get_std_params(candidate)
platform = PLATFORMS[candidate] platform = PLATFORMS[candidate]
@ -148,7 +152,7 @@ class CarInterfaceBase(ABC):
ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
ret.flags |= int(platform.config.flags) ret.flags |= int(platform.config.flags)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) ret = cls._get_params(ret, candidate, fingerprint, car_fw, alpha_long, docs)
# Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
if not ret.notCar: if not ret.notCar:
@ -163,7 +167,7 @@ class CarInterfaceBase(ABC):
@staticmethod @staticmethod
@abstractmethod @abstractmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint: dict[int, dict[int, int]], def _get_params(ret: structs.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
car_fw: list[structs.CarParams.CarFw], experimental_long: bool, docs: bool) -> structs.CarParams: car_fw: list[structs.CarParams.CarFw], alpha_long: bool, docs: bool) -> structs.CarParams:
raise NotImplementedError raise NotImplementedError
@staticmethod @staticmethod

4
opendbc_repo/opendbc/car/mazda/fingerprints.py
Unescape View File

@ -6,6 +6,7 @@ Ecu = CarParams.Ecu
FW_VERSIONS = { FW_VERSIONS = {
CAR.MAZDA_CX5_2022: { CAR.MAZDA_CX5_2022: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'KBST-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
@ -20,12 +21,14 @@ FW_VERSIONS = {
b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXGC-188K2-\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.fwdRadar, 0x764, None): [ (Ecu.fwdRadar, 0x764, None): [
b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.abs, 0x760, None): [ (Ecu.abs, 0x760, None): [
b'KBSV-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
@ -41,6 +44,7 @@ FW_VERSIONS = {
b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYA4-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYJ3-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYJ3-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

2
opendbc_repo/opendbc/car/mazda/interface.py
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@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
CarController = CarController CarController = CarController
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "mazda" ret.brand = "mazda"
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)] ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
ret.radarUnavailable = True ret.radarUnavailable = True

2
opendbc_repo/opendbc/car/mock/interface.py
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@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
CarController = CarController CarController = CarController
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "mock" ret.brand = "mock"
ret.mass = 1700. ret.mass = 1700.
ret.wheelbase = 2.70 ret.wheelbase = 2.70

2
opendbc_repo/opendbc/car/nissan/interface.py
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@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
CarController = CarController CarController = CarController
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "nissan" ret.brand = "nissan"
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)] ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
ret.autoResumeSng = False ret.autoResumeSng = False

11
opendbc_repo/opendbc/car/nissan/values.py
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@ -1,9 +1,9 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from enum import IntFlag from enum import Enum, IntFlag
from opendbc.car import AngleSteeringLimits, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds from opendbc.car import AngleSteeringLimits, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
from opendbc.car.structs import CarParams from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = CarParams.Ecu Ecu = CarParams.Ecu
@ -29,10 +29,17 @@ class NissanSafetyFlags(IntFlag):
ALT_EPS_BUS = 1 ALT_EPS_BUS = 1
class Footnote(Enum):
SETUP = CarFootnote(
"See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/nissan\" target=\"_blank\">Nissan</a>.",
Column.MAKE, setup_note=True)
@dataclass @dataclass
class NissanCarDocs(CarDocs): class NissanCarDocs(CarDocs):
package: str = "ProPILOT Assist" package: str = "ProPILOT Assist"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a])) car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
footnotes: list[Enum] = field(default_factory=lambda: [Footnote.SETUP])
@dataclass(frozen=True) @dataclass(frozen=True)

14
opendbc_repo/opendbc/car/rivian/carcontroller.py
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@ -1,3 +1,4 @@
import numpy as np
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from opendbc.car import Bus, apply_driver_steer_torque_limits from opendbc.car import Bus, apply_driver_steer_torque_limits
from opendbc.car.interfaces import CarControllerBase from opendbc.car.interfaces import CarControllerBase
@ -18,21 +19,24 @@ class CarController(CarControllerBase):
can_sends = [] can_sends = []
apply_torque = 0 apply_torque = 0
steer_max = round(float(np.interp(CS.out.vEgoRaw, CarControllerParams.STEER_MAX_LOOKUP[0],
CarControllerParams.STEER_MAX_LOOKUP[1])))
if CC.latActive: if CC.latActive:
new_torque = int(round(CC.actuators.torque * CarControllerParams.STEER_MAX)) new_torque = int(round(CC.actuators.torque * steer_max))
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last,
CS.out.steeringTorque, CarControllerParams) CS.out.steeringTorque, CarControllerParams, steer_max)
# send steering command # send steering command
self.apply_torque_last = apply_torque self.apply_torque_last = apply_torque
can_sends.append(create_lka_steering(self.packer, CS.acm_lka_hba_cmd, apply_torque, CC.latActive)) can_sends.append(create_lka_steering(self.packer, self.frame, CS.acm_lka_hba_cmd, apply_torque, CC.enabled, CC.latActive))
if self.frame % 5 == 0: if self.frame % 5 == 0:
can_sends.append(create_wheel_touch(self.packer, CS.sccm_wheel_touch, CC.enabled)) can_sends.append(create_wheel_touch(self.packer, CS.sccm_wheel_touch, CC.enabled))
# Longitudinal control # Longitudinal control
if self.CP.openpilotLongitudinalControl: if self.CP.openpilotLongitudinalControl:
can_sends.append(create_longitudinal(self.packer, self.frame % 15, actuators.accel, CC.enabled)) accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
can_sends.append(create_longitudinal(self.packer, self.frame, accel, CC.enabled))
else: else:
interface_status = None interface_status = None
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
@ -46,7 +50,7 @@ class CarController(CarControllerBase):
can_sends.append(create_adas_status(self.packer, CS.vdm_adas_status, interface_status)) can_sends.append(create_adas_status(self.packer, CS.vdm_adas_status, interface_status))
new_actuators = actuators.as_builder() new_actuators = actuators.as_builder()
new_actuators.torque = apply_torque / CarControllerParams.STEER_MAX new_actuators.torque = apply_torque / steer_max
new_actuators.torqueOutputCan = apply_torque new_actuators.torqueOutputCan = apply_torque
self.frame += 1 self.frame += 1

11
opendbc_repo/opendbc/car/rivian/interface.py
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@ -3,6 +3,7 @@ from opendbc.car.interfaces import CarInterfaceBase
from opendbc.car.rivian.carcontroller import CarController from opendbc.car.rivian.carcontroller import CarController
from opendbc.car.rivian.carstate import CarState from opendbc.car.rivian.carstate import CarState
from opendbc.car.rivian.radar_interface import RadarInterface from opendbc.car.rivian.radar_interface import RadarInterface
from opendbc.car.rivian.values import RivianSafetyFlags
class CarInterface(CarInterfaceBase): class CarInterface(CarInterfaceBase):
@ -11,12 +12,12 @@ class CarInterface(CarInterfaceBase):
RadarInterface = RadarInterface RadarInterface = RadarInterface
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "rivian" ret.brand = "rivian"
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.rivian)] ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.rivian)]
ret.steerActuatorDelay = 0.25 ret.steerActuatorDelay = 0.15
ret.steerLimitTimer = 0.4 ret.steerLimitTimer = 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@ -24,10 +25,10 @@ class CarInterface(CarInterfaceBase):
ret.radarUnavailable = True ret.radarUnavailable = True
# TODO: pending finding/handling missing set speed and fixing up radar parser # TODO: pending finding/handling missing set speed and fixing up radar parser
ret.experimentalLongitudinalAvailable = False ret.alphaLongitudinalAvailable = False
if experimental_long: if alpha_long:
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
#ret.safetyConfigs[0].safetyParam |= Panda.FLAG_RIVIAN_LONG_CONTROL ret.safetyConfigs[0].safetyParam |= RivianSafetyFlags.LONG_CONTROL.value
ret.longitudinalActuatorDelay = 0.35 ret.longitudinalActuatorDelay = 0.35
ret.vEgoStopping = 0.25 ret.vEgoStopping = 0.25

59
opendbc_repo/opendbc/car/rivian/riviancan.py
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@ -11,40 +11,32 @@ def checksum(data, poly, xor_output):
return crc ^ xor_output return crc ^ xor_output
def create_lka_steering(packer, acm_lka_hba_cmd, apply_torque, enabled): def create_lka_steering(packer, frame, acm_lka_hba_cmd, apply_torque, enabled, active):
values = {s: acm_lka_hba_cmd[s] for s in [ # forward auto high beam and speed limit status and nothing else
"ACM_lkaHbaCmd_Counter", values = {s: acm_lka_hba_cmd[s] for s in (
"ACM_lkaHbaCmd_Checksum",
"ACM_HapticRequest",
"ACM_lkaStrToqReq",
"ACM_lkaSymbolState",
"ACM_lkaToiFlt",
"ACM_lkaActToi",
"ACM_hbaSysState", "ACM_hbaSysState",
"ACM_FailinfoAeb",
"ACM_lkaRHWarning",
"ACM_lkaLHWarning",
"ACM_lkaLaneRecogState",
"ACM_hbaOpt",
"ACM_hbaLamp", "ACM_hbaLamp",
"ACM_lkaHandsoffSoundWarning", "ACM_hbaOnOffState",
"ACM_lkaHandsoffDisplayWarning", "ACM_slifOnOffState",
"ACM_unkown1", )}
"ACM_unkown2",
"ACM_unkown3",
"ACM_unkown4",
"ACM_unkown6",
]}
if enabled: values |= {
values["ACM_lkaActToi"] = 1 "ACM_lkaHbaCmd_Counter": frame % 15,
values["ACM_lkaSymbolState"] = 3 "ACM_lkaStrToqReq": apply_torque,
values["ACM_lkaLaneRecogState"] = 3 "ACM_lkaActToi": active,
values["ACM_lkaStrToqReq"] = apply_torque
values["ACM_unkown2"] = 1 "ACM_lkaLaneRecogState": 3 if enabled else 0,
values["ACM_unkown3"] = 4 "ACM_lkaSymbolState": 3 if enabled else 0,
values["ACM_unkown4"] = 160
values["ACM_unkown6"] = 1 # static values
"ACM_lkaElkRequest": 0,
"ACM_ldwlkaOnOffState": 2, # 2=LKAS+LDW on
"ACM_elkOnOffState": 1, # 1=LKAS on
# TODO: what are these used for?
"ACM_ldwWarnTypeState": 2, # always 2
"ACM_ldwWarnTimingState": 1, # always 1
#"ACM_lkaHandsoffDisplayWarning": 1, # TODO: we can send this when openpilot wants you to pay attention
}
data = packer.make_can_msg("ACM_lkaHbaCmd", 0, values)[1] data = packer.make_can_msg("ACM_lkaHbaCmd", 0, values)[1]
values["ACM_lkaHbaCmd_Checksum"] = checksum(data[1:], 0x1D, 0x63) values["ACM_lkaHbaCmd_Checksum"] = checksum(data[1:], 0x1D, 0x63)
@ -74,10 +66,9 @@ def create_longitudinal(packer, frame, accel, enabled):
values = { values = {
"ACM_longitudinalRequest_Counter": frame % 15, "ACM_longitudinalRequest_Counter": frame % 15,
"ACM_AccelerationRequest": accel if enabled else 0, "ACM_AccelerationRequest": accel if enabled else 0,
"ACM_VehicleHoldRequired": 0, "ACM_PrndRequest": 0,
"ACM_PrndRequired": 0,
"ACM_longInterfaceEnable": 1 if enabled else 0, "ACM_longInterfaceEnable": 1 if enabled else 0,
"ACM_AccelerationRequestType": 0, "ACM_VehicleHoldRequest": 0,
} }
data = packer.make_can_msg("ACM_longitudinalRequest", 0, values)[1] data = packer.make_can_msg("ACM_longitudinalRequest", 0, values)[1]

39
opendbc_repo/opendbc/car/rivian/values.py
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@ -1,9 +1,9 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from enum import StrEnum, IntFlag from enum import StrEnum, IntFlag
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, Device from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, Device
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
from opendbc.car.vin import Vin from opendbc.car.vin import Vin
@ -28,6 +28,7 @@ class ModelYear(StrEnum):
class RivianCarDocs(CarDocs): class RivianCarDocs(CarDocs):
package: str = "All" package: str = "All"
car_parts: CarParts = field(default_factory=CarParts([Device.threex_angled_mount, CarHarness.rivian])) car_parts: CarParts = field(default_factory=CarParts([Device.threex_angled_mount, CarHarness.rivian]))
setup_video_link: str = "https://youtu.be/uaISd1j7Z4U"
@dataclass @dataclass
@ -66,6 +67,10 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
return {str(c) for c in candidates} return {str(c) for c in candidates}
RIVIAN_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf1a0)
RIVIAN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
FW_QUERY_CONFIG = FwQueryConfig( FW_QUERY_CONFIG = FwQueryConfig(
requests=[ requests=[
Request( Request(
@ -73,7 +78,21 @@ FW_QUERY_CONFIG = FwQueryConfig(
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
rx_offset=0x40, rx_offset=0x40,
bus=0, bus=0,
) ),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE],
rx_offset=0x40,
bus=0,
logging=True,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, RIVIAN_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, RIVIAN_VERSION_RESPONSE],
rx_offset=0x40,
bus=0,
logging=True,
),
], ],
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
) )
@ -88,10 +107,16 @@ GEAR_MAP = {
class CarControllerParams: class CarControllerParams:
# The Rivian R1T we tested on achieves slightly more lateral acceleration going left vs. right # The R1T 2023 and R1S 2023 we tested on achieves slightly more lateral acceleration going left vs. right
# and lateral acceleration rises as speed increases. This value is set conservatively to # and lateral acceleration falls linearly as speed decreases from 38 mph to 20 mph. These values are set
# reach a maximum of 2.5-3.0 m/s^2 turning left at 80 mph, but is less at lower speeds # conservatively to reach a maximum of 3.0 m/s^2 turning left at 80 mph
STEER_MAX = 250 # ~2.5 m/s^2
# These refer to turning left:
# 250 is ~2.8 m/s^2 above 17 m/s, then linearly ramps to ~1.6 m/s^2 from 17 m/s to 9 m/s
# TODO: it is theorized older models have different steering racks and achieve down to half the
# lateral acceleration referenced here at all speeds. detect this and ship a torque increase for those models
STEER_MAX = 250 # 350 is intended to maintain lateral accel, not increase it
STEER_MAX_LOOKUP = [9, 17], [350, 250]
STEER_STEP = 1 STEER_STEP = 1
STEER_DELTA_UP = 3 # torque increase per refresh STEER_DELTA_UP = 3 # torque increase per refresh
STEER_DELTA_DOWN = 5 # torque decrease per refresh STEER_DELTA_DOWN = 5 # torque decrease per refresh

5
opendbc_repo/opendbc/car/subaru/fingerprints.py
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@ -54,6 +54,7 @@ FW_VERSIONS = {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa1 \x02\x01', b'\xa1 \x02\x01',
b'\xa1 \x02\x02', b'\xa1 \x02\x02',
b'\xa1 \x03\x02',
b'\xa1 \x03\x03', b'\xa1 \x03\x03',
b'\xa1 \x04\x01', b'\xa1 \x04\x01',
], ],
@ -67,6 +68,7 @@ FW_VERSIONS = {
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xde"a0\x07', b'\xde"a0\x07',
b'\xe2"a0\x07',
b'\xde,\xa0@\x07', b'\xde,\xa0@\x07',
b'\xe2"aq\x07', b'\xe2"aq\x07',
b'\xe2,\xa0@\x07', b'\xe2,\xa0@\x07',
@ -463,6 +465,7 @@ FW_VERSIONS = {
b'\xa1 \x06\x00', b'\xa1 \x06\x00',
b'\xa1 \x06\x01', b'\xa1 \x06\x01',
b'\xa1 \x06\x02', b'\xa1 \x06\x02',
b'\xa1 \x06\x03',
b'\xa1 \x07\x00', b'\xa1 \x07\x00',
b'\xa1 \x07\x02', b'\xa1 \x07\x02',
b'\xa1 \x07\x03', b'\xa1 \x07\x03',
@ -496,6 +499,7 @@ FW_VERSIONS = {
b'\xe2"`p\x07', b'\xe2"`p\x07',
b'\xe2"`q\x07', b'\xe2"`q\x07',
b'\xe3,\xa0@\x07', b'\xe3,\xa0@\x07',
b'\xe2,\xa0p\x07',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xa5\xf6D@\x00', b'\xa5\xf6D@\x00',
@ -505,6 +509,7 @@ FW_VERSIONS = {
b'\xa7\x8e\xf40\x00', b'\xa7\x8e\xf40\x00',
b'\xa7\xf6D@\x00', b'\xa7\xf6D@\x00',
b'\xa7\xfe\xf4@\x00', b'\xa7\xfe\xf4@\x00',
b'\xa7\xfe\xf6@\x00',
], ],
}, },
CAR.SUBARU_FORESTER_2022: { CAR.SUBARU_FORESTER_2022: {

6
opendbc_repo/opendbc/car/subaru/interface.py
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@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
CarController = CarController CarController = CarController
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "subaru" ret.brand = "subaru"
ret.radarUnavailable = True ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need: # for HYBRID CARS to be upstreamed, we need:
@ -86,9 +86,9 @@ class CarInterface(CarInterfaceBase):
else: else:
raise ValueError(f"unknown car: {candidate}") raise ValueError(f"unknown car: {candidate}")
ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL | ret.alphaLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL |
SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl: if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value

2
opendbc_repo/opendbc/car/subaru/values.py
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@ -103,7 +103,7 @@ class SubaruCarDocs(CarDocs):
def init_make(self, CP: CarParams): def init_make(self, CP: CarParams):
self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool]) self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
if CP.experimentalLongitudinalAvailable: if CP.alphaLongitudinalAvailable:
self.footnotes.append(Footnote.EXP_LONG) self.footnotes.append(Footnote.EXP_LONG)

15
opendbc_repo/opendbc/car/tesla/carcontroller.py
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@ -17,16 +17,15 @@ class CarController(CarControllerBase):
actuators = CC.actuators actuators = CC.actuators
can_sends = [] can_sends = []
# Disengage and allow for user override on high torque inputs # Tesla EPS enforces disabling steering on heavy lateral override force.
# TODO: move this to a generic disengageRequested carState field and set CC.cruiseControl.cancel based on it # When enabling in a tight curve, we wait until user reduces steering force to start steering.
hands_on_fault = CS.hands_on_level >= 3 # Canceling is done on rising edge and is handled generically with CC.cruiseControl.cancel
cruise_cancel = CC.cruiseControl.cancel or hands_on_fault lat_active = CC.latActive and CS.hands_on_level < 3
lat_active = CC.latActive and not hands_on_fault
if self.frame % 2 == 0: if self.frame % 2 == 0:
# Angular rate limit based on speed # Angular rate limit based on speed
self.apply_angle_last = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, self.apply_angle_last = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo,
CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS) CS.out.steeringAngleDeg, lat_active, CarControllerParams.ANGLE_LIMITS)
can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_last, lat_active, (self.frame // 2) % 16)) can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_last, lat_active, (self.frame // 2) % 16))
@ -36,14 +35,14 @@ class CarController(CarControllerBase):
# Longitudinal control # Longitudinal control
if self.CP.openpilotLongitudinalControl: if self.CP.openpilotLongitudinalControl:
if self.frame % 4 == 0: if self.frame % 4 == 0:
state = 13 if cruise_cancel else 4 # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT state = 13 if CC.cruiseControl.cancel else 4 # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)) accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
cntr = (self.frame // 4) % 8 cntr = (self.frame // 4) % 8
can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CS.out.vEgo, CC.longActive)) can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CS.out.vEgo, CC.longActive))
else: else:
# Increment counter so cancel is prioritized even without openpilot longitudinal # Increment counter so cancel is prioritized even without openpilot longitudinal
if cruise_cancel: if CC.cruiseControl.cancel:
cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8 cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False)) can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False))

18
opendbc_repo/opendbc/car/tesla/carstate.py
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@ -50,6 +50,12 @@ class CarState(CarStateBase):
ret.steerFaultPermanent = eac_status == "EAC_FAULT" ret.steerFaultPermanent = eac_status == "EAC_FAULT"
ret.steerFaultTemporary = eac_status == "EAC_INHIBITED" ret.steerFaultTemporary = eac_status == "EAC_INHIBITED"
# FSD disengages using union of handsOnLevel (slow overrides) and high angle rate faults (fast overrides, high speed)
# TODO: implement in safety
eac_error_code = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacErrorCode"].get(int(epas_status["EPAS3S_eacErrorCode"]), None)
ret.steeringDisengage = self.hands_on_level >= 3 or (eac_status == "EAC_INHIBITED" and
eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY")
# Cruise state # Cruise state
cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp_party.vl["DI_state"]["DI_cruiseState"]), None) cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp_party.vl["DI_state"]["DI_cruiseState"]), None)
speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_party.vl["DI_state"]["DI_speedUnits"]), None) speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_party.vl["DI_state"]["DI_speedUnits"]), None)
@ -71,8 +77,8 @@ class CarState(CarStateBase):
ret.doorOpen = cp_party.vl["UI_warning"]["anyDoorOpen"] == 1 ret.doorOpen = cp_party.vl["UI_warning"]["anyDoorOpen"] == 1
# Blinkers # Blinkers
ret.leftBlinker = cp_party.vl["UI_warning"]["leftBlinkerOn"] != 0 ret.leftBlinker = cp_party.vl["UI_warning"]["leftBlinkerBlinking"] in (1, 2)
ret.rightBlinker = cp_party.vl["UI_warning"]["rightBlinkerOn"] != 0 ret.rightBlinker = cp_party.vl["UI_warning"]["rightBlinkerBlinking"] in (1, 2)
# Seatbelt # Seatbelt
ret.seatbeltUnlatched = cp_party.vl["UI_warning"]["buckleStatus"] != 1 ret.seatbeltUnlatched = cp_party.vl["UI_warning"]["buckleStatus"] != 1
@ -84,6 +90,12 @@ class CarState(CarStateBase):
# AEB # AEB
ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1 ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1
# LKAS
ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2 # LANE_KEEP_ASSIST
# Stock Autosteer should be off (includes FSD)
ret.invalidLkasSetting = cp_ap_party.vl["DAS_settings"]["DAS_autosteerEnabled"] != 0
# Buttons # ToDo: add Gap adjust button # Buttons # ToDo: add Gap adjust button
# Messages needed by carcontroller # Messages needed by carcontroller
@ -105,7 +117,9 @@ class CarState(CarStateBase):
ap_party_messages = [ ap_party_messages = [
("DAS_control", 25), ("DAS_control", 25),
("DAS_steeringControl", 50),
("DAS_status", 2), ("DAS_status", 2),
("DAS_settings", 2),
("SCCM_steeringAngleSensor", 100), ("SCCM_steeringAngleSensor", 100),
] ]

5
opendbc_repo/opendbc/car/tesla/fingerprints.py
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@ -8,10 +8,14 @@ FW_VERSIONS = {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'TeM3_E014p10_0.0.0 (16),E014.17.00', b'TeM3_E014p10_0.0.0 (16),E014.17.00',
b'TeM3_E014p10_0.0.0 (16),EL014.17.00', b'TeM3_E014p10_0.0.0 (16),EL014.17.00',
b'TeM3_ES014p11_0.0.0 (25),ES014.19.0',
b'TeMYG4_DCS_Update_0.0.0 (13),E4014.28.1', b'TeMYG4_DCS_Update_0.0.0 (13),E4014.28.1',
b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0', b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
b'TeMYG4_Legacy3Y_0.0.0 (2),E4015.02.0',
b'TeMYG4_Legacy3Y_0.0.0 (5),E4015.03.2',
b'TeMYG4_Main_0.0.0 (59),E4H014.29.0', b'TeMYG4_Main_0.0.0 (59),E4H014.29.0',
b'TeMYG4_Main_0.0.0 (65),E4H015.01.0', b'TeMYG4_Main_0.0.0 (65),E4H015.01.0',
b'TeMYG4_Main_0.0.0 (67),E4H015.02.1',
b'TeMYG4_SingleECU_0.0.0 (33),E4S014.27', b'TeMYG4_SingleECU_0.0.0 (33),E4S014.27',
], ],
}, },
@ -25,6 +29,7 @@ FW_VERSIONS = {
b'TeMYG4_DCS_Update_0.0.0 (13),Y4P002.27.1', b'TeMYG4_DCS_Update_0.0.0 (13),Y4P002.27.1',
b'TeMYG4_DCS_Update_0.0.0 (9),Y4P002.25.0', b'TeMYG4_DCS_Update_0.0.0 (9),Y4P002.25.0',
b'TeMYG4_Legacy3Y_0.0.0 (2),Y4003.02.0', b'TeMYG4_Legacy3Y_0.0.0 (2),Y4003.02.0',
b'TeMYG4_Legacy3Y_0.0.0 (5),Y4003.03.2',
b'TeMYG4_Legacy3Y_0.0.0 (2),Y4P003.02.0', b'TeMYG4_Legacy3Y_0.0.0 (2),Y4P003.02.0',
b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26', b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
], ],

8
opendbc_repo/opendbc/car/tesla/interface.py
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@ -10,20 +10,20 @@ class CarInterface(CarInterfaceBase):
CarController = CarController CarController = CarController
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "tesla" ret.brand = "tesla"
ret.dashcamOnly = True
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)] ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]
ret.steerLimitTimer = 1.0 ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1
ret.steerAtStandstill = True
ret.steerControlType = structs.CarParams.SteerControlType.angle ret.steerControlType = structs.CarParams.SteerControlType.angle
ret.radarUnavailable = True ret.radarUnavailable = True
ret.experimentalLongitudinalAvailable = True ret.alphaLongitudinalAvailable = True
if experimental_long: if alpha_long:
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value

11
opendbc_repo/opendbc/car/tesla/values.py
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@ -15,19 +15,23 @@ class Footnote(Enum):
"See <a href=\"https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3\">this page</a> for more information.", "See <a href=\"https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3\">this page</a> for more information.",
Column.MODEL) Column.MODEL)
SETUP = CarFootnote(
"See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/tesla\" target=\"_blank\">Tesla</a>.",
Column.MAKE, setup_note=True)
@dataclass @dataclass
class TeslaCarDocsHW3(CarDocs): class TeslaCarDocsHW3(CarDocs):
package: str = "All" package: str = "All"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.tesla_a])) car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.tesla_a]))
footnotes: list[Enum] = field(default_factory=lambda: [Footnote.HW_TYPE]) footnotes: list[Enum] = field(default_factory=lambda: [Footnote.HW_TYPE, Footnote.SETUP])
@dataclass @dataclass
class TeslaCarDocsHW4(CarDocs): class TeslaCarDocsHW4(CarDocs):
package: str = "All" package: str = "All"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.tesla_b])) car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.tesla_b]))
footnotes: list[Enum] = field(default_factory=lambda: [Footnote.HW_TYPE]) footnotes: list[Enum] = field(default_factory=lambda: [Footnote.HW_TYPE, Footnote.SETUP])
@dataclass @dataclass
@ -39,9 +43,8 @@ class CAR(Platforms):
TESLA_MODEL_3 = TeslaPlatformConfig( TESLA_MODEL_3 = TeslaPlatformConfig(
[ [
# TODO: do we support 2017? It's HW3 # TODO: do we support 2017? It's HW3
# TODO: do we support 2025? It's HW4
TeslaCarDocsHW3("Tesla Model 3 (with HW3) 2019-23"), TeslaCarDocsHW3("Tesla Model 3 (with HW3) 2019-23"),
TeslaCarDocsHW4("Tesla Model 3 (with HW4) 2024"), TeslaCarDocsHW4("Tesla Model 3 (with HW4) 2024-25"),
], ],
CarSpecs(mass=1899., wheelbase=2.875, steerRatio=12.0), CarSpecs(mass=1899., wheelbase=2.875, steerRatio=12.0),
) )

9
opendbc_repo/opendbc/car/tests/routes.py
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@ -27,7 +27,6 @@ non_tested_cars = [
VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter
SUBARU.SUBARU_FORESTER_HYBRID, SUBARU.SUBARU_FORESTER_HYBRID,
TESLA.TESLA_MODEL_3, TESLA.TESLA_MODEL_3,
TESLA.TESLA_MODEL_Y,
] ]
@ -53,6 +52,7 @@ routes = [
CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.FORD_BRONCO_SPORT_MK1), CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.FORD_BRONCO_SPORT_MK1),
CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.FORD_ESCAPE_MK4), CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.FORD_ESCAPE_MK4),
CarTestRoute("56574443e0c3783c/00000002--c00bd0fe69", FORD.FORD_ESCAPE_MK4_5),
CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.FORD_EXPLORER_MK6), CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.FORD_EXPLORER_MK6),
CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4), CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4),
CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1), CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1),
@ -107,6 +107,8 @@ routes = [
CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022), CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
CarTestRoute("1f032f5173c8ad99/00000006--573b3fcaf5", HONDA.HONDA_CIVIC_2022), # Civic Type R with manual transmission CarTestRoute("1f032f5173c8ad99/00000006--573b3fcaf5", HONDA.HONDA_CIVIC_2022), # Civic Type R with manual transmission
CarTestRoute("b1c832ad56b6bc9d/00000010--debfcf5867", HONDA.HONDA_CIVIC_2022), # 2025 Civic Hatch Hybrid with new eCVT transmission
CarTestRoute("f9c43864cf057d05|2024-01-15--23-01-20", HONDA.HONDA_PILOT_4G), # TODO: Replace with a newer route
CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN), CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN), CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
@ -214,12 +216,14 @@ routes = [
CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022), # hybrid CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022), # hybrid
CarTestRoute("20ba9ade056a8c7b|2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME), # SecOC CarTestRoute("20ba9ade056a8c7b|2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME), # SecOC
CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN), # SecOC CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN), # SecOC
CarTestRoute("0b54d0594d924cd9/00000057--b6206a3205", TOYOTA.TOYOTA_YARIS), # SecOC
CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid
CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid
CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
CarTestRoute("7f8f479cfa6f392a/00000001--9a84b69c9d", TOYOTA.LEXUS_RC_TSS2),
CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F), CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX), # hybrid CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX), # hybrid
@ -309,7 +313,8 @@ routes = [
CarTestRoute("bc095dc92e101734/000000db--ee9fe46e57", RIVIAN.RIVIAN_R1_GEN1), CarTestRoute("bc095dc92e101734/000000db--ee9fe46e57", RIVIAN.RIVIAN_R1_GEN1),
#CarTestRoute("46cdc864ec865f4b/00000007--42f94db730", TESLA.TESLA_MODEL_Y), CarTestRoute("46cdc864ec865f4b/00000007--42f94db730", TESLA.TESLA_MODEL_Y),
CarTestRoute("2c912ca5de3b1ee9/0000025d--6eb6bcbca4", TESLA.TESLA_MODEL_Y, segment=4),
# Segments that test specific issues # Segments that test specific issues
# Controls mismatch due to standstill threshold # Controls mismatch due to standstill threshold

4
opendbc_repo/opendbc/car/tests/test_car_interfaces.py
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@ -36,7 +36,7 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
params_strategy = st.fixed_dictionaries({ params_strategy = st.fixed_dictionaries({
'fingerprints': fingerprint_strategy, 'fingerprints': fingerprint_strategy,
'car_fw': car_fw_strategy, 'car_fw': car_fw_strategy,
'experimental_long': st.booleans(), 'alpha_long': st.booleans(),
}) })
params: dict = draw(params_strategy) params: dict = draw(params_strategy)
@ -59,7 +59,7 @@ class TestCarInterfaces:
args = get_fuzzy_car_interface_args(data.draw) args = get_fuzzy_car_interface_args(data.draw)
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
experimental_long=args['experimental_long'], docs=False) alpha_long=args['alpha_long'], docs=False)
car_interface = CarInterface(car_params) car_interface = CarInterface(car_params)
assert car_params assert car_params
assert car_interface assert car_interface

4
opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py
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@ -260,7 +260,7 @@ class TestFwFingerprintTiming:
print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
def test_fw_query_timing(self, subtests, mocker): def test_fw_query_timing(self, subtests, mocker):
total_ref_time = {1: 7.1, 2: 7.7} total_ref_time = {1: 7.3, 2: 7.9}
brand_ref_times = { brand_ref_times = {
1: { 1: {
'gm': 1.0, 'gm': 1.0,
@ -275,7 +275,7 @@ class TestFwFingerprintTiming:
'tesla': 0.1, 'tesla': 0.1,
'toyota': 0.7, 'toyota': 0.7,
'volkswagen': 0.65, 'volkswagen': 0.65,
'rivian': 0.1, 'rivian': 0.3,
}, },
2: { 2: {
'ford': 1.6, 'ford': 1.6,

5
opendbc_repo/opendbc/car/tests/test_lateral_limits.py
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@ -7,11 +7,10 @@ import sys
from opendbc.car import DT_CTRL from opendbc.car import DT_CTRL
from opendbc.car.car_helpers import interfaces from opendbc.car.car_helpers import interfaces
from opendbc.car.interfaces import get_torque_params from opendbc.car.interfaces import ISO_LATERAL_ACCEL, get_torque_params
from opendbc.car.values import PLATFORMS from opendbc.car.values import PLATFORMS
# ISO 11270 - allowed up jerk is strictly lower than recommended limits # ISO 11270 - allowed up jerk is strictly lower than recommended limits
MAX_LAT_ACCEL = 3.0 # m/s^2
MAX_LAT_JERK_UP = 2.5 # m/s^3 MAX_LAT_JERK_UP = 2.5 # m/s^3
MAX_LAT_JERK_DOWN = 5.0 # m/s^3 MAX_LAT_JERK_DOWN = 5.0 # m/s^3
MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3 MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3
@ -65,7 +64,7 @@ class TestLateralLimits:
assert down_jerk <= MAX_LAT_JERK_DOWN assert down_jerk <= MAX_LAT_JERK_DOWN
def test_max_lateral_accel(self): def test_max_lateral_accel(self):
assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= ISO_LATERAL_ACCEL
class LatAccelReport: class LatAccelReport:

5
opendbc_repo/opendbc/car/torque_data/override.toml
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@ -22,6 +22,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
# Guess # Guess
"FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan] "FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
"FORD_ESCAPE_MK4" = [nan, 1.5, nan] "FORD_ESCAPE_MK4" = [nan, 1.5, nan]
"FORD_ESCAPE_MK4_5" = [nan, 1.5, nan]
"FORD_EXPLORER_MK6" = [nan, 1.5, nan] "FORD_EXPLORER_MK6" = [nan, 1.5, nan]
"FORD_F_150_MK14" = [nan, 1.5, nan] "FORD_F_150_MK14" = [nan, 1.5, nan]
"FORD_FOCUS_MK4" = [nan, 1.5, nan] "FORD_FOCUS_MK4" = [nan, 1.5, nan]
@ -41,7 +42,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2] "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
"CADILLAC_XT4" = [1.45, 1.6, 0.2] "CADILLAC_XT4" = [1.45, 1.6, 0.2]
"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05] "CHEVROLET_BOLT_EUV" = [1.0, 2.0, 0.175]
"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112] "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16] "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
"CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18] "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
@ -73,6 +74,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15] "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
"GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09] "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
"GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678] "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
# Note that some Rivians achieve significantly less lateral acceleration than this
"RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07] "RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1] "HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
@ -82,3 +84,4 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
# Manually checked # Manually checked
"HONDA_CIVIC_2022" = [2.5, 1.2, 0.15] "HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
"HONDA_HRV_3G" = [2.5, 1.2, 0.2] "HONDA_HRV_3G" = [2.5, 1.2, 0.2]
"HONDA_PILOT_4G" = [1.0, 1.0, 0.2]

1
opendbc_repo/opendbc/car/torque_data/params.toml
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@ -73,6 +73,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] "TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
"TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174] "TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
"TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456] "TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456]
"TOYOTA_YARIS" = [2.22984, 1.86145, 0.168189]
"VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032] "VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
"VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] "VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
"VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] "VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]

1
opendbc_repo/opendbc/car/torque_data/substitute.toml
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@ -15,6 +15,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"LEXUS_CTH" = "LEXUS_NX" "LEXUS_CTH" = "LEXUS_NX"
"LEXUS_ES" = "TOYOTA_CAMRY" "LEXUS_ES" = "TOYOTA_CAMRY"
"LEXUS_RC" = "LEXUS_NX_TSS2" "LEXUS_RC" = "LEXUS_NX_TSS2"
"LEXUS_RC_TSS2" = "LEXUS_NX_TSS2"
"LEXUS_LC_TSS2" = "LEXUS_NX_TSS2" "LEXUS_LC_TSS2" = "LEXUS_NX_TSS2"
"KIA_OPTIMA_G4" = "HYUNDAI_SONATA" "KIA_OPTIMA_G4" = "HYUNDAI_SONATA"

34
opendbc_repo/opendbc/car/toyota/fingerprints.py
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@ -1564,6 +1564,23 @@ FW_VERSIONS = {
b'8646F2402200\x00\x00\x00\x00', b'8646F2402200\x00\x00\x00\x00',
], ],
}, },
CAR.LEXUS_RC_TSS2: {
(Ecu.engine, 0x700, None): [
b'\x018966324C8000\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'\x01F15262426000\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B24481\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F6201400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F2403100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
},
CAR.LEXUS_RX: { CAR.LEXUS_RX: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x01896630E36100\x00\x00\x00\x00', b'\x01896630E36100\x00\x00\x00\x00',
@ -1783,4 +1800,21 @@ FW_VERSIONS = {
b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
], ],
}, },
CAR.TOYOTA_YARIS: {
(Ecu.engine, 0x700, None): [
b'\x0189663K015300\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x018965BK003200\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'\x01F1526K007500\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0D05300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F5205200\x00\x00\x00\x008646G5202200\x00\x00\x00\x00',
],
},
} }

7
opendbc_repo/opendbc/car/toyota/interface.py
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@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams(CP).ACCEL_MIN, CarControllerParams(CP).ACCEL_MAX return CarControllerParams(CP).ACCEL_MIN, CarControllerParams(CP).ACCEL_MAX
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "toyota" ret.brand = "toyota"
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.toyota)] ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@ -31,7 +31,6 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.ALT_BRAKE.value ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.ALT_BRAKE.value
if ret.flags & ToyotaFlags.SECOC.value: if ret.flags & ToyotaFlags.SECOC.value:
ret.dashcamOnly = True
ret.secOcRequired = True ret.secOcRequired = True
ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.SECOC.value ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.SECOC.value
@ -112,10 +111,10 @@ class CarInterface(CarInterfaceBase):
# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
if candidate in (RADAR_ACC_CAR | NO_DSU_CAR): if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
ret.experimentalLongitudinalAvailable = candidate in RADAR_ACC_CAR ret.alphaLongitudinalAvailable = candidate in RADAR_ACC_CAR
# Disabling radar is only supported on TSS2 radar-ACC cars # Disabling radar is only supported on TSS2 radar-ACC cars
if experimental_long and candidate in RADAR_ACC_CAR: if alpha_long and candidate in RADAR_ACC_CAR:
ret.flags |= ToyotaFlags.DISABLE_RADAR.value ret.flags |= ToyotaFlags.DISABLE_RADAR.value
# openpilot longitudinal enabled by default: # openpilot longitudinal enabled by default:

13
opendbc_repo/opendbc/car/toyota/values.py
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@ -271,7 +271,7 @@ class CAR(Platforms):
) )
TOYOTA_RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig( TOYOTA_RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota RAV4 2023-24"), ToyotaCarDocs("Toyota RAV4 2023-25"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2023-25", video_link="https://youtu.be/4eIsEq4L4Ng"), ToyotaCarDocs("Toyota RAV4 Hybrid 2023-25", video_link="https://youtu.be/4eIsEq4L4Ng"),
], ],
TOYOTA_RAV4_TSS2.specs, TOYOTA_RAV4_TSS2.specs,
@ -281,6 +281,11 @@ class CAR(Platforms):
[ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)], [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533), CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
) )
TOYOTA_YARIS = ToyotaSecOCPlatformConfig(
[ToyotaCarDocs("Toyota Yaris 2023 (Non-US only)", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=1170, wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
flags=ToyotaFlags.RADAR_ACC,
)
TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5 TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
[ToyotaCarDocs("Toyota Mirai 2021")], [ToyotaCarDocs("Toyota Mirai 2021")],
CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
@ -352,6 +357,12 @@ class CAR(Platforms):
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU, flags=ToyotaFlags.UNSUPPORTED_DSU,
) )
LEXUS_RC_TSS2 = ToyotaTSS2PlatformConfig(
[
ToyotaCarDocs("Lexus RC 2023"),
],
CarSpecs(mass=3986. * CV.LB_TO_KG, wheelbase=2.73, steerRatio=13.9, tireStiffnessFactor=0.444),
)
LEXUS_RX = PlatformConfig( LEXUS_RX = PlatformConfig(
[ [
ToyotaCarDocs("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarDocs("Lexus RX 2016", "Lexus Safety System+"),

6
opendbc_repo/opendbc/car/volkswagen/interface.py
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@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
CarController = CarController CarController = CarController
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
ret.brand = "volkswagen" ret.brand = "volkswagen"
ret.radarUnavailable = True ret.radarUnavailable = True
@ -73,8 +73,8 @@ class CarInterface(CarInterfaceBase):
# Global longitudinal tuning defaults, can be overridden per-vehicle # Global longitudinal tuning defaults, can be overridden per-vehicle
ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs ret.alphaLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
if experimental_long: if alpha_long:
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= VolkswagenSafetyFlags.LONG_CONTROL.value ret.safetyConfigs[0].safetyParam |= VolkswagenSafetyFlags.LONG_CONTROL.value

4
opendbc_repo/opendbc/car/volkswagen/values.py
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@ -147,7 +147,7 @@ class VolkswagenFlags(IntFlag):
@dataclass @dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig): class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_mqb_2010'}) dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_mqb'})
# Volkswagen uses the VIN WMI and chassis code to match in the absence of the comma power # Volkswagen uses the VIN WMI and chassis code to match in the absence of the comma power
# on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle # on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle
chassis_codes: set[str] = field(default_factory=set) chassis_codes: set[str] = field(default_factory=set)
@ -156,7 +156,7 @@ class VolkswagenMQBPlatformConfig(PlatformConfig):
@dataclass @dataclass
class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig): class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_golf_mk4'}) dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'vw_pq'})
def init(self): def init(self):
self.flags |= VolkswagenFlags.PQ self.flags |= VolkswagenFlags.PQ

9
opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
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@ -194,15 +194,12 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO
BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO SG_ GasRegenAccType : 15|2@0+ (1,0) [0|3] "" NEO
SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO SG_ GasRegenChecksum : 32|25@0+ (1,0) [0|0] "" NEO
SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO
SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO
SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO SG_ GasRegenCmd : 10|19@0+ (0.125,-22534) [-22534|43001.875] "Nm" NEO
SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] "" NEO
BO_ 717 ASCM_2CD: 5 K124_ASCM BO_ 717 ASCM_2CD: 5 K124_ASCM

11
opendbc_repo/opendbc/dbc/generator/honda/_bosch_adas_2018.dbc
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@ -28,16 +28,17 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
SG_ CAMERA_OVERHEAT : 15|1@0+ (1,0) [0|1] "" BDY
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY SG_ LANE_DEPARTURE_ALERT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY SG_ LDW_ICON : 22|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY SG_ BEEP : 18|3@0+ (1,0) [0|7] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
@ -50,5 +51,7 @@ CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
CM_ SG_ 829 CAM_TEMP_HIGH "Some Driver Assist Systems Cannot Operate: Camera Temperature Too High";
CM_ SG_ 829 CAMERA_OVERHEAT "Lane Keeping Assist Cannot Operate: Camera Too Hot";
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; VAL_ 829 BEEP 5 "solid_beep" 4 "double_beep" 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";

27
opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
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@ -209,27 +209,30 @@ BO_ 354 CCNC_0x162: 32 CCNC
SG_ ZEROS_2 : 56|8@1+ (1,0) [0|255] "" XXX SG_ ZEROS_2 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ LEAD : 64|5@1+ (1,0) [0|31] "" XXX SG_ LEAD : 64|5@1+ (1,0) [0|31] "" XXX
SG_ LEAD_DISTANCE : 69|11@1+ (0.1,0) [0|204.7] "m" XXX SG_ LEAD_DISTANCE : 69|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ LEAD_LATERAL : 80|7@1+ (1,0) [0|127] "" XXX SG_ LEAD_LATERAL : 80|7@1+ (0.1,0) [0|127] "m" XXX
SG_ ZEROS_3 : 87|1@0+ (1,0) [0|1] "" XXX SG_ ZEROS_3 : 87|1@0+ (1,0) [0|1] "" XXX
SG_ LEAD_ALT : 88|5@1+ (1,0) [0|31] "" XXX SG_ LEAD_ALT : 88|5@1+ (1,0) [0|31] "" XXX
SG_ LEAD_ALT_DISTANCE : 93|11@1+ (0.1,0) [0|204.7] "m" XXX SG_ LEAD_ALT_DISTANCE : 93|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ LEAD_ALT_LATERAL : 104|7@1+ (1,0) [0|127] "" XXX SG_ LEAD_ALT_LATERAL : 104|7@1+ (0.1,0) [0|127] "m" XXX
SG_ ZEROS_4 : 111|1@0+ (1,0) [0|1] "" XXX SG_ ZEROS_4 : 111|1@0+ (1,0) [0|1] "" XXX
SG_ LEAD_LEFT : 112|5@1+ (1,0) [0|31] "" XXX SG_ LEAD_LEFT : 112|5@1+ (1,0) [0|31] "" XXX
SG_ LEAD_LEFT_DISTANCE : 117|11@1+ (0.1,0) [0|204.7] "m" XXX SG_ LEAD_LEFT_DISTANCE : 117|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ LEAD_LEFT_LATERAL : 128|7@1+ (1,0) [0|127] "" XXX SG_ LEAD_LEFT_LATERAL : 128|7@1+ (0.1,0) [0|127] "m" XXX
SG_ ZEROS_5 : 135|1@0+ (1,0) [0|1] "" XXX SG_ ZEROS_5 : 135|1@0+ (1,0) [0|1] "" XXX
SG_ LEAD_RIGHT : 136|5@1+ (1,0) [0|31] "" XXX SG_ LEAD_RIGHT : 136|5@1+ (1,0) [0|31] "" XXX
SG_ LEAD_RIGHT_DISTANCE : 141|11@1+ (0.1,0) [0|204.7] "m" XXX SG_ LEAD_RIGHT_DISTANCE : 141|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ LEAD_RIGHT_LATERAL : 152|7@1+ (1,0) [0|127] "" XXX SG_ LEAD_RIGHT_LATERAL : 152|7@1+ (0.1,0) [0|127] "m" XXX
SG_ ZEROS_6 : 159|1@0+ (1,0) [0|1] "" XXX SG_ ZEROS_6 : 159|1@0+ (1,0) [0|1] "" XXX
SG_ ZEROS_7 : 160|8@1+ (1,0) [0|255] "" XXX SG_ ZEROS_7 : 162|3@0+ (1,0) [0|7] "" XXX
SG_ ZEROS_8 : 168|8@1+ (1,0) [0|255] "" XXX SG_ LEAD_LEFT_REAR_STATUS : 167|5@0+ (1,0) [0|31] "" XXX
SG_ ZEROS_9 : 176|8@1+ (1,0) [0|255] "" XXX SG_ LEAD_LEFT_REAR_DISTANCE : 175|8@0+ (0.1,0) [0|255] "m" XXX
SG_ ZEROS_10 : 184|8@1+ (1,0) [0|255] "" XXX SG_ LEAD_LEFT_REAR_LATERAL : 182|7@0+ (0.1,0) [0|127] "m" XXX
SG_ ZEROS_11 : 192|8@1+ (1,0) [0|255] "" XXX SG_ ZEROS_8 : 183|1@0+ (1,0) [0|1] "" XXX
SG_ ZEROS_12 : 200|8@1+ (1,0) [0|255] "" XXX SG_ ZEROS_9 : 191|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_13 : 208|5@1+ (1,0) [0|31] "" XXX SG_ LEAD_RIGHT_REAR_STATUS : 196|5@0+ (1,0) [0|31] "" XXX
SG_ LEAD_RIGHT_REAR_DISTANCE : 197|8@1+ (0.1,0) [0|255] "m" XXX
SG_ LEAD_RIGHT_REAR_LATERAL : 205|7@1+ (0.1,0) [0|127] "m" XXX
SG_ ZEROS_10 : 212|1@0+ (1,0) [0|1] "" XXX
SG_ FAULT_FSS : 213|3@1+ (1,0) [0|7] "" XXX SG_ FAULT_FSS : 213|3@1+ (1,0) [0|7] "" XXX
SG_ FAULT_FCA : 216|3@1+ (1,0) [0|7] "" XXX SG_ FAULT_FCA : 216|3@1+ (1,0) [0|7] "" XXX
SG_ FAULT_LSS : 219|3@1+ (1,0) [0|7] "" XXX SG_ FAULT_LSS : 219|3@1+ (1,0) [0|7] "" XXX
@ -243,7 +246,7 @@ BO_ 354 CCNC_0x162: 32 CCNC
SG_ FAULT_HDP : 243|3@1+ (1,0) [0|7] "" XXX SG_ FAULT_HDP : 243|3@1+ (1,0) [0|7] "" XXX
SG_ FAULT_DAS : 246|3@1+ (1,0) [0|7] "" XXX SG_ FAULT_DAS : 246|3@1+ (1,0) [0|7] "" XXX
SG_ FAULT_ESS : 249|3@1+ (1,0) [0|7] "" XXX SG_ FAULT_ESS : 249|3@1+ (1,0) [0|7] "" XXX
SG_ ZEROS_14 : 252|4@1+ (1,0) [0|15] "" XXX SG_ ZEROS_11 : 252|4@1+ (1,0) [0|15] "" XXX
BO_ 357 SPAS1: 24 APRK BO_ 357 SPAS1: 24 APRK
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX

6
opendbc_repo/opendbc/dbc/generator/nissan/_nissan_common.dbc
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@ -58,6 +58,10 @@ BO_ 689 PROPILOT_HUD: 8 XXX
SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 451 PROPILOT_BRAKE: 8 XXX
SG_ BRAKE_PRESSURE : 5|9@0+ (1,0) [0|511] "" XXX
SG_ BRAKE_ACTIVE : 47|1@0+ (1,0) [0|1] "" XXX
BO_ 783 CRUISE_STATE: 3 XXX BO_ 783 CRUISE_STATE: 3 XXX
SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
@ -107,7 +111,7 @@ BO_ 1227 LKAS_SETTINGS: 8 XXX
VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISTANCE_3" ;
VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;

55
opendbc_repo/opendbc/dbc/rivian_park_assist_can.dbc
Unescape View File

@ -0,0 +1,55 @@
VERSION "ParkAssistCAN"
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: ACM CGM EPAS_P ESP IBM OCS RCM SAS TestTool VDM Vector_XXX
BO_ 794 WheelButtons: 7 XXX
SG_ LeftButton_ScrollClick : 19|2@0+ (1,0) [0|3] "" XXX
SG_ LeftButton_RightClick : 21|2@0+ (1,0) [0|3] "" XXX
SG_ LeftButton_LeftClick : 22|2@1+ (1,0) [0|3] "" XXX
SG_ LeftButton_Scroll : 31|8@0+ (1,0) [0|255] "" XXX
SG_ RightButton_ScrollClick : 35|2@0+ (1,0) [0|3] "" XXX
SG_ RightButton_RightClick : 37|2@0+ (1,0) [0|3] "" XXX
SG_ RightButton_LeftClick : 38|2@1+ (1,0) [0|3] "" XXX
SG_ RightButton_Scroll : 47|8@0+ (1,0) [0|255] "" XXX
BO_ 848 BSM_BlindSpotIndicator: 4 XXX
SG_ BSM_BlindSpotIndicator_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
SG_ BSM_BlindSpotIndicator_Counter : 11|4@0+ (1,0) [0|15] "" XXX
SG_ BSM_BlindSpotIndicator_Left : 29|2@0+ (1,0) [0|3] "" XXX
SG_ BSM_BlindSpotIndicator_Right : 30|2@1+ (1,0) [0|3] "" XXX
VAL_ 848 BSM_BlindSpotIndicator_Left 0 "OFF" 1 "OBJECT_DETECTED" 2 "ACTIVE_WARNING" ;
VAL_ 848 BSM_BlindSpotIndicator_Right 0 "OFF" 1 "OBJECT_DETECTED" 2 "ACTIVE_WARNING" ;

48
opendbc_repo/opendbc/dbc/rivian_primary_actuator.dbc
Unescape View File

@ -85,28 +85,27 @@ BO_ 272 ACM_SteeringControl: 8 ACM
SG_ ACM_SteeringAngleRequest : 23|15@0+ (0.1,-1638.4) [-1638.4|1638.3] "deg" EPAS_P SG_ ACM_SteeringAngleRequest : 23|15@0+ (0.1,-1638.4) [-1638.4|1638.3] "deg" EPAS_P
BO_ 288 ACM_lkaHbaCmd: 8 ACM BO_ 288 ACM_lkaHbaCmd: 8 ACM
SG_ ACM_lkaHbaCmd_Checksum : 7|8@0+ (1,0) [0|0] "" EPAS_P SG_ ACM_lkaHbaCmd_Checksum : 7|8@0+ (1,0) [0|255] "" EPAS_P
SG_ ACM_lkaHbaCmd_Counter : 11|4@0+ (1,0) [0|0] "" EPAS_P SG_ ACM_lkaHbaCmd_Counter : 11|4@0+ (1,0) [0|15] "" EPAS_P
SG_ ACM_unkown1 : 12|1@0+ (1,0) [0|1] "" XXX SG_ ACM_lkaElkRequest : 14|3@0+ (1,0) [0|7] "" EPAS_P
SG_ ACM_unkown6 : 13|1@0+ (1,0) [0|1] "" XXX
SG_ ACM_unkown5 : 14|1@0+ (1,0) [0|1] "" XXX
SG_ ACM_HapticRequest : 15|1@0+ (1,0) [0|1] "" EPAS_P SG_ ACM_HapticRequest : 15|1@0+ (1,0) [0|1] "" EPAS_P
SG_ ACM_lkaStrToqReq : 23|11@0+ (1,-1024) [-1024|1024] "" EPAS_P SG_ ACM_lkaStrToqReq : 23|11@0+ (1,-1024) [-1024|1024] "" EPAS_P
SG_ ACM_lkaSymbolState : 26|3@0+ (1,0) [0|7] "" EPAS_P SG_ ACM_lkaSymbolState : 26|3@0+ (1,0) [0|7] "" EPAS_P
SG_ ACM_lkaToiFlt : 27|1@0+ (1,0) [0|1] "" EPAS_P SG_ ACM_lkaToiFlt : 27|1@0+ (1,0) [0|1] "" EPAS_P
SG_ ACM_lkaActToi : 28|1@0+ (1,0) [0|1] "" EPAS_P SG_ ACM_lkaActToi : 28|1@0+ (1,0) [0|1] "" EPAS_P
SG_ ACM_hbaSysState : 34|3@0+ (1,0) [0|7] "" EPAS_P SG_ ACM_hbaSysState : 34|3@0+ (1,0) [0|7] "" EPAS_P
SG_ ACM_FailinfoAeb : 37|3@0+ (1,0) [0|7] "" EPAS_P SG_ ACM_hbaLamp : 35|1@0+ (1,0) [0|1] "" EPAS_P
SG_ ACM_unkown2 : 38|2@1+ (1,0) [0|3] "" XXX SG_ ACM_slifOnOffState : 37|2@0+ (1,0) [0|3] "" EPAS_P
SG_ ACM_lkaRHWarning : 41|2@0+ (1,0) [0|3] "" EPAS_P SG_ ACM_elkOnOffState : 39|2@0+ (1,0) [0|3] "" EPAS_P
SG_ ACM_lkaLHWarning : 43|2@0+ (1,0) [0|3] "" EPAS_P SG_ ACM_ldwLHWarning : 43|3@0+ (1,0) [0|7] "" EPAS_P
SG_ ACM_lkaLaneRecogState : 45|2@0+ (1,0) [0|3] "" EPAS_P SG_ ACM_lkaLaneRecogState : 45|2@0+ (1,0) [0|3] "" EPAS_P
SG_ ACM_hbaOpt : 46|1@0+ (1,0) [0|1] "" EPAS_P SG_ ACM_hbaOnOffState : 47|2@0+ (1,0) [0|3] "" EPAS_P
SG_ ACM_hbaLamp : 47|1@0+ (1,0) [0|1] "" EPAS_P SG_ ACM_ldwlkaOnOffState : 48|3@0+ (1,0) [0|7] "" EPAS_P
SG_ ACM_unkown3 : 51|4@0+ (1,0) [0|15] "" XXX SG_ ACM_ldwWarnTimingState : 51|3@0+ (1,0) [0|7] "" EPAS_P
SG_ ACM_lkaHandsoffSoundWarning : 53|2@0+ (1,0) [0|3] "" EPAS_P SG_ ACM_lkaHandsoffSoundWarning : 53|2@0+ (1,0) [0|3] "" EPAS_P
SG_ ACM_lkaHandsoffDisplayWarning : 55|2@0+ (1,0) [0|3] "" EPAS_P SG_ ACM_lkaHandsoffDisplayWarning : 55|2@0+ (1,0) [0|3] "" EPAS_P
SG_ ACM_unkown4 : 56|8@1+ (1,0) [0|255] "" XXX SG_ ACM_ldwRHWarning : 58|3@0+ (1,0) [0|7] "" EPAS_P
SG_ ACM_ldwWarnTypeState : 61|3@0+ (1,0) [0|7] "" EPAS_P
BO_ 304 RCM_IMU_LatAccYaw: 8 RCM BO_ 304 RCM_IMU_LatAccYaw: 8 RCM
SG_ RCM_LateralAccelYaw_Checksum : 7|8@0+ (1,0) [0|25] "" ACM,ESP,VDM SG_ RCM_LateralAccelYaw_Checksum : 7|8@0+ (1,0) [0|25] "" ACM,ESP,VDM
@ -176,10 +175,9 @@ BO_ 352 ACM_longitudinalRequest: 5 ACM
SG_ ACM_longitudinalRequest_Checksum : 7|8@0+ (1,0) [0|255] "-" VDM SG_ ACM_longitudinalRequest_Checksum : 7|8@0+ (1,0) [0|255] "-" VDM
SG_ ACM_longitudinalRequest_Counter : 11|4@0+ (1,0) [0|15] "-" VDM SG_ ACM_longitudinalRequest_Counter : 11|4@0+ (1,0) [0|15] "-" VDM
SG_ ACM_AccelerationRequest : 23|11@0+ (0.01,-10.24) [-10.24|10.23] "m/s^2" VDM SG_ ACM_AccelerationRequest : 23|11@0+ (0.01,-10.24) [-10.24|10.23] "m/s^2" VDM
SG_ ACM_VehicleHoldRequired : 24|1@0+ (1,0) [0|1] "" VDM SG_ ACM_PrndRequest : 27|4@0+ (1,0) [0|7] "" VDM
SG_ ACM_PrndRequired : 27|3@0+ (1,0) [0|7] "" VDM
SG_ ACM_longInterfaceEnable : 37|2@0+ (1,0) [0|3] "" VDM SG_ ACM_longInterfaceEnable : 37|2@0+ (1,0) [0|3] "" VDM
SG_ ACM_AccelerationRequestType : 39|2@0+ (1,0) [0|3] "" VDM SG_ ACM_VehicleHoldRequest : 39|2@0+ (1,0) [0|3] "" VDM
BO_ 354 VDM_AdasSts: 8 VDM BO_ 354 VDM_AdasSts: 8 VDM
SG_ VDM_AdasStatus_Checksum : 7|8@0+ (1,0) [0|0] "" ACM SG_ VDM_AdasStatus_Checksum : 7|8@0+ (1,0) [0|0] "" ACM
@ -328,6 +326,7 @@ BO_ 565 IndicatorLights: 8 XXX
SG_ DriverDoor : 28|2@0+ (1,0) [0|3] "" XXX SG_ DriverDoor : 28|2@0+ (1,0) [0|3] "" XXX
SG_ RearPassengerDoor : 38|2@0+ (1,0) [0|3] "" XXX SG_ RearPassengerDoor : 38|2@0+ (1,0) [0|3] "" XXX
SG_ TurnLightLeft : 40|2@0+ (1,0) [0|3] "" XXX SG_ TurnLightLeft : 40|2@0+ (1,0) [0|3] "" XXX
SG_ IgnitionOn : 48|1@0+ (1,0) [0|1] "" XXX
SG_ TurnLightRight : 54|2@0+ (1,0) [0|3] "" XXX SG_ TurnLightRight : 54|2@0+ (1,0) [0|3] "" XXX
BO_ 592 VDM_EcasStatus: 8 VDM BO_ 592 VDM_EcasStatus: 8 VDM
@ -609,9 +608,9 @@ CM_ SG_ 352 ACM_longitudinalRequest_Checksum "Checksum signal for frame";
CM_ SG_ 352 ACM_longitudinalRequest_Counter "Message counter signal for frame"; CM_ SG_ 352 ACM_longitudinalRequest_Counter "Message counter signal for frame";
CM_ SG_ 352 ACM_AccelerationRequest "Acceleration Request command from the ACM"; CM_ SG_ 352 ACM_AccelerationRequest "Acceleration Request command from the ACM";
CM_ SG_ 352 ACM_VehicleHoldRequired "Vehicle hold request flag"; CM_ SG_ 352 ACM_VehicleHoldRequired "Vehicle hold request flag";
CM_ SG_ 352 ACM_PrndRequired "Drive state Request command from the ACM"; CM_ SG_ 352 ACM_PrndRequest "Gear state Request command from the ACM";
CM_ SG_ 352 ACM_longInterfaceEnable "Acceleration Interface Enable Request from the ACM"; CM_ SG_ 352 ACM_longInterfaceEnable "Acceleration Interface Enable Request from the ACM";
CM_ SG_ 352 ACM_AccelerationRequestType "Acceleration Request type(positive/negative) from the ACM"; CM_ SG_ 352 ACM_VehicleHoldRequest "Vehicle hold request from ACM";
CM_ SG_ 354 VDM_AdasStatus_Checksum "VDM_AdasSts message j1850 checksum."; CM_ SG_ 354 VDM_AdasStatus_Checksum "VDM_AdasSts message j1850 checksum.";
CM_ SG_ 354 VDM_AdasStatus_Counter "VDM_AdasSts message counter."; CM_ SG_ 354 VDM_AdasStatus_Counter "VDM_AdasSts message counter.";
CM_ SG_ 354 VDM_AdasFaultStatus "Fault status of ADAS requests from VDM."; CM_ SG_ 354 VDM_AdasFaultStatus "Fault status of ADAS requests from VDM.";
@ -828,14 +827,15 @@ VAL_ 288 ACM_lkaSymbolState 0 "ACM_LKASYMBOLSTATE_OFF" 1 "ACM_LKASYMBOLSTATE_WHI
VAL_ 288 ACM_lkaToiFlt 0 "ACM_LKATOIFLT_NO_FAULT" 1 "ACM_LKATOIFLT_FAULT_PRESENT"; VAL_ 288 ACM_lkaToiFlt 0 "ACM_LKATOIFLT_NO_FAULT" 1 "ACM_LKATOIFLT_FAULT_PRESENT";
VAL_ 288 ACM_lkaActToi 0 "ACM_LKAACTTOI_DE_ACTIVATE_TOI" 1 "ACM_LKAACTTOI_ACTIVATE_TOI"; VAL_ 288 ACM_lkaActToi 0 "ACM_LKAACTTOI_DE_ACTIVATE_TOI" 1 "ACM_LKAACTTOI_ACTIVATE_TOI";
VAL_ 288 ACM_hbaSysState 0 "ACM_HBASYSSTATE_DEFAULT_DISABLE" 1 "ACM_HBASYSSTATE_HBA_ENABLE_HIGH_BEAM_OFF" 2 "ACM_HBASYSSTATE_HBA_ENABLE_HIGH_BEAM_ON" 7 "ACM_HBASYSSTATE_SYSTEM_FAIL"; VAL_ 288 ACM_hbaSysState 0 "ACM_HBASYSSTATE_DEFAULT_DISABLE" 1 "ACM_HBASYSSTATE_HBA_ENABLE_HIGH_BEAM_OFF" 2 "ACM_HBASYSSTATE_HBA_ENABLE_HIGH_BEAM_ON" 7 "ACM_HBASYSSTATE_SYSTEM_FAIL";
VAL_ 288 ACM_FailinfoAeb 0 "ACM_FAILINFOAEB_NORMAL" 1 "ACM_FAILINFOAEB_CAMERA_FAILURE" 2 "ACM_FAILINFOAEB_FRONT_RADAR_COM_ERR" 3 "ACM_FAILINFOAEB_CAMERA_BLOCKAGE" 4 "ACM_FAILINFOAEB_RESERVED_4" 5 "ACM_FAILINFOAEB_RESERVED_5" 6 "ACM_FAILINFOAEB_RESERVED_6"; VAL_ 288 ACM_ldwRHWarning 0 "ACM_LKARHWARNING_NO_WARNING" 1 "ACM_LKARHWARNING_HAPTIC_WARNING_AND_DISPLAY" 2 "ACM_LKARHWARNING_ACOUSTIC_WARNING_AND_DISPLAY" 3 "ACM_LKARHWARNING_HAPTIC_ACOUSTIC_AND_DISPLAY";
VAL_ 288 ACM_lkaRHWarning 0 "ACM_LKARHWARNING_NO_WARNING" 1 "ACM_LKARHWARNING_HAPTIC_WARNING_AND_DISPLAY" 2 "ACM_LKARHWARNING_ACOUSTIC_WARNING_AND_DISPLAY" 3 "ACM_LKARHWARNING_HAPTIC_ACOUSTIC_AND_DISPLAY"; VAL_ 288 ACM_ldwLHWarning 0 "ACM_LKALHWARNING_NO_WARNING" 1 "ACM_LKALHWARNING_HAPTIC_WARNING_AND_DISPLAY" 2 "ACM_LKALHWARNING_ACOUSTIC_WARNING_AND_DISPLAY" 3 "ACM_LKALHWARNING_HAPTIC_ACOUSTIC_AND_DISPLAY";
VAL_ 288 ACM_lkaLHWarning 0 "ACM_LKALHWARNING_NO_WARNING" 1 "ACM_LKALHWARNING_HAPTIC_WARNING_AND_DISPLAY" 2 "ACM_LKALHWARNING_ACOUSTIC_WARNING_AND_DISPLAY" 3 "ACM_LKALHWARNING_HAPTIC_ACOUSTIC_AND_DISPLAY";
VAL_ 288 ACM_lkaLaneRecogState 0 "ACM_LKALANERECOGSTATE_NOT_RECOGNITION" 1 "ACM_LKALANERECOGSTATE_LEFT_LANE_RECOGNITION" 2 "ACM_LKALANERECOGSTATE_RIGHT_LANE_RECOGNITION" 3 "ACM_LKALANERECOGSTATE_FULL_LANE_RECOGNITION"; VAL_ 288 ACM_lkaLaneRecogState 0 "ACM_LKALANERECOGSTATE_NOT_RECOGNITION" 1 "ACM_LKALANERECOGSTATE_LEFT_LANE_RECOGNITION" 2 "ACM_LKALANERECOGSTATE_RIGHT_LANE_RECOGNITION" 3 "ACM_LKALANERECOGSTATE_FULL_LANE_RECOGNITION";
VAL_ 288 ACM_hbaOpt 0 "ACM_HBAOPT_NONE_HBA_OPTION_DEFAULT" 1 "ACM_HBAOPT_HBA_SYSTEM_ENABLE";
VAL_ 288 ACM_hbaLamp 0 "ACM_HBALAMP_HBA_INDICATOR_LAMP_OFF" 1 "ACM_HBALAMP_HBA_INDICATOR_LAMP_ON"; VAL_ 288 ACM_hbaLamp 0 "ACM_HBALAMP_HBA_INDICATOR_LAMP_OFF" 1 "ACM_HBALAMP_HBA_INDICATOR_LAMP_ON";
VAL_ 288 ACM_lkaHandsoffSoundWarning 0 "ACM_LKAHANDSOFFSOUNDWARNING_NO_INFO" 1 "ACM_LKAHANDSOFFSOUNDWARNING_WARNING" 2 "ACM_LKAHANDSOFFSOUNDWARNING_RESERVED_2" 3 "ACM_LKAHANDSOFFSOUNDWARNING_RESERVED_3"; VAL_ 288 ACM_lkaHandsoffSoundWarning 0 "ACM_LKAHANDSOFFSOUNDWARNING_NO_INFO" 1 "ACM_LKAHANDSOFFSOUNDWARNING_WARNING" 2 "ACM_LKAHANDSOFFSOUNDWARNING_RESERVED_2" 3 "ACM_LKAHANDSOFFSOUNDWARNING_RESERVED_3";
VAL_ 288 ACM_lkaHandsoffDisplayWarning 0 "ACM_LKAHANDSOFFDISPLAYWARNING_NO_INFO" 1 "ACM_LKAHANDSOFFDISPLAYWARNING_WARNING" 2 "ACM_LKAHANDSOFFDISPLAYWARNING_RESERVED_2" 3 "ACM_LKAHANDSOFFDISPLAYWARNING_RESERVED_3"; VAL_ 288 ACM_lkaHandsoffDisplayWarning 0 "ACM_LKAHANDSOFFDISPLAYWARNING_NO_INFO" 1 "ACM_LKAHANDSOFFDISPLAYWARNING_WARNING" 2 "ACM_LKAHANDSOFFDISPLAYWARNING_RESERVED_2" 3 "ACM_LKAHANDSOFFDISPLAYWARNING_RESERVED_3";
VAL_ 288 ACM_lkaElkRequest 0 "off" 1 "applying torque right for left departure" 2 "applying torque left for right departure";
VAL_ 288 ACM_ldwlkaOnOffState 1 "LDW on" 2 "LKAS+LDW on" 3 "all off";
VAL_ 288 ACM_elkOnOffState 1 "LKAS toggled on" 2 "LKAS toggled off";
VAL_ 304 RCM_IMU_LatAcc_Stat_SensAvail 0 "RCM_IMU_LatAcc_Stat_SensAvail_InSpec" 1 "RCM_IMU_LatAcc_Stat_SensAvail_NotInSpec"; VAL_ 304 RCM_IMU_LatAcc_Stat_SensAvail 0 "RCM_IMU_LatAcc_Stat_SensAvail_InSpec" 1 "RCM_IMU_LatAcc_Stat_SensAvail_NotInSpec";
VAL_ 304 RCM_IMU_LatAcc_Stat_Fail 0 "RCM_IMU_LatAcc_Stat_Fail_NotFailed" 1 "RCM_IMU_LatAcc_Stat_Fail_Failed"; VAL_ 304 RCM_IMU_LatAcc_Stat_Fail 0 "RCM_IMU_LatAcc_Stat_Fail_NotFailed" 1 "RCM_IMU_LatAcc_Stat_Fail_Failed";
VAL_ 304 RCM_IMU_LatAcc_Stat_Init 0 "RCM_IMU_LatAcc_Stat_Init_Finished" 1 "RCM_IMU_LatAcc_Stat_Init_Running"; VAL_ 304 RCM_IMU_LatAcc_Stat_Init 0 "RCM_IMU_LatAcc_Stat_Init_Finished" 1 "RCM_IMU_LatAcc_Stat_Init_Running";
@ -871,9 +871,9 @@ VAL_ 338 VDM_EspPartialModeRequest 0 "VDM_EspPartialModeRequest_Normal" 1 "VDM_E
VAL_ 338 VDM_SteeringModeRequest 0 "VDM_SteeringModeRequest_Default" 1 "VDM_SteeringModeRequest_Normal" 2 "VDM_SteeringModeRequest_Sport" 3 "VDM_SteeringModeRequest_Comfort"; VAL_ 338 VDM_SteeringModeRequest 0 "VDM_SteeringModeRequest_Default" 1 "VDM_SteeringModeRequest_Normal" 2 "VDM_SteeringModeRequest_Sport" 3 "VDM_SteeringModeRequest_Comfort";
VAL_ 338 VDM_EpasPowerMode 0 "VDM_EpasPowerMode_Drive_Off" 1 "VDM_EpasPowerMode_Drive_On" 2 "VDM_EpasPowerMode_Shutdown"; VAL_ 338 VDM_EpasPowerMode 0 "VDM_EpasPowerMode_Drive_Off" 1 "VDM_EpasPowerMode_Drive_On" 2 "VDM_EpasPowerMode_Shutdown";
VAL_ 352 ACM_VehicleHoldRequired 0 "ACM_VEHICLEHOLDREQ_NO_REQUEST" 1 "ACM_VEHICLEHOLDREQ_VEHICLE_HOLD_REQUEST"; VAL_ 352 ACM_VehicleHoldRequired 0 "ACM_VEHICLEHOLDREQ_NO_REQUEST" 1 "ACM_VEHICLEHOLDREQ_VEHICLE_HOLD_REQUEST";
VAL_ 352 ACM_PrndRequired 0 "ACM_PRNDREQ_PARK" 1 "ACM_PRNDREQ_REVERSE" 2 "ACM_PRNDREQ_NEUTRAL" 3 "ACM_PRNDREQ_DRIVE" 4 "ACM_PRNDREQ_NOT_USED"; VAL_ 352 ACM_PrndRequest 0 "ACM_PRNDREQ_NO_REQUEST" 1 "ACM_PRNDREQ_PARK" 2 "ACM_PRNDREQ_REVERSE" 3 "ACM_PRNDREQ_NEUTRAL" 4 "ACM_PRNDREQ_DRIVE";
VAL_ 352 ACM_longInterfaceEnable 0 "ACM_LONGIFEN_INIT" 1 "ACM_LONGIFEN_LONGITUDINAL_INTERFACE_ENABLE" 2 "ACM_LONGIFEN_LONGITUDINAL_INTERFACE_DISABLE" 3 "ACM_LONGIFEN_SNA"; VAL_ 352 ACM_longInterfaceEnable 0 "ACM_LONGIFEN_INIT" 1 "ACM_LONGIFEN_LONGITUDINAL_INTERFACE_ENABLE" 2 "ACM_LONGIFEN_LONGITUDINAL_INTERFACE_DISABLE" 3 "ACM_LONGIFEN_SNA";
VAL_ 352 ACM_AccelerationRequestType 0 "ACM_ACCELREQTYPE_INIT" 1 "ACM_ACCELREQTYPE_ACCEL_NEGATIVE" 2 "ACM_ACCELREQTYPE_ACCEL_POSITIVE" 3 "ACM_ACCELREQTYPE_SNA"; VAL_ 352 ACM_VehicleHoldRequest 0 "NO_REQUEST" 1 "HOLD_REQUEST";
VAL_ 354 VDM_AdasDriverAccelPriorityStatus 0 "VDM_AdasDriverAccelPriorityStatus_Driver" 1 "VDM_AdasDriverAccelPriorityStatus_Adas"; VAL_ 354 VDM_AdasDriverAccelPriorityStatus 0 "VDM_AdasDriverAccelPriorityStatus_Driver" 1 "VDM_AdasDriverAccelPriorityStatus_Adas";
VAL_ 354 VDM_AdasFaultStatus 0 "VDM_AdasFlaultStatus_No_Fault" 1 "VDM_AdasFaultStatus_Brk_Intv" 2 "VDM_AdasFlaultStatus_Cntr_Fault" 3 "VDM_AdasFlaultStatus_Imps_Cmd" 15 "VDM_AdasFlaultStatus_Sna"; VAL_ 354 VDM_AdasFaultStatus 0 "VDM_AdasFlaultStatus_No_Fault" 1 "VDM_AdasFaultStatus_Brk_Intv" 2 "VDM_AdasFlaultStatus_Cntr_Fault" 3 "VDM_AdasFlaultStatus_Imps_Cmd" 15 "VDM_AdasFlaultStatus_Sna";
VAL_ 354 VDM_AdasDriverModeStatus 0 "VDM_AdasDriverModeStatus_Human" 1 "VDM_AdasDriverModeStatus_Adas" 2 "VDM_AdasDriverModeStatus_Reserved" 3 "VDM_AdasDriverModeStatus_Sna"; VAL_ 354 VDM_AdasDriverModeStatus 0 "VDM_AdasDriverModeStatus_Human" 1 "VDM_AdasDriverModeStatus_Adas" 2 "VDM_AdasDriverModeStatus_Reserved" 3 "VDM_AdasDriverModeStatus_Sna";

41
opendbc_repo/opendbc/dbc/tesla_model3_party.dbc
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@ -189,6 +189,10 @@ BO_ 599 DI_speed: 8 PARTY
SG_ DI_speedCounter : 8|4@1+ (1,0) [0|15] "" park SG_ DI_speedCounter : 8|4@1+ (1,0) [0|15] "" park
SG_ DI_speedChecksum : 0|8@1+ (1,0) [0|255] "" park SG_ DI_speedChecksum : 0|8@1+ (1,0) [0|255] "" park
BO_ 605 DAS_road: 6 XXX
SG_ DAS_stopLineDist : 16|8@1+ (0.5,0) [0|127.5] "m" XXX
SG_ DAS_trafficLightColor : 26|3@0+ (1,0) [0|7] "" XXX
BO_ 1160 DAS_steeringControl: 4 PARTY BO_ 1160 DAS_steeringControl: 4 PARTY
SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|255] "" aps SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|255] "" aps
SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|15] "" aps SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|15] "" aps
@ -224,15 +228,28 @@ BO_ 646 DI_state: 8 ETH
SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] "" X SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] "" X
BO_ 659 DAS_settings: 8 XXX BO_ 659 DAS_settings: 8 XXX
SG_ DAS_autopilotEnabled : 38|1@0+ (1,0) [0|1] "" XXX SG_ DAS_driverSteeringWeight : 1|2@0+ (1,0) [0|255] "" XXX
SG_ DAS_slipStart : 2|1@0+ (1,0) [0|1] "" XXX
SG_ DAS_offRoadAssist : 3|2@1+ (1,0) [0|63] "" XXX
SG_ DAS_distanceUnits : 13|1@1+ (1,0) [0|255] "" XXX
SG_ DAS_aebEnabled : 18|1@0+ (1,0) [0|255] "" XXX
SG_ DAS_adaptiveHeadlights : 22|1@1+ (1,0) [0|31] "" XXX
SG_ DAS_autosteerEnabled2 : 24|1@0+ (1,0) [0|1] "" XXX
SG_ DAS_fcwEnabled : 34|1@0+ (1,0) [0|1] "" XXX
SG_ DAS_fcwSensitivity : 37|2@0+ (1,0) [0|63] "" XXX
SG_ DAS_autosteerEnabled : 38|1@0+ (1,0) [0|1] "" XXX
SG_ DAS_obstacleAwareAcceleration : 42|1@0+ (1,0) [0|1] "" XXX
SG_ DAS_driverAccelerationMode : 44|1@1+ (1,0) [0|127] "" XXX
SG_ DAS_settingCounter : 52|4@1+ (1,0) [0|15] "" XXX SG_ DAS_settingCounter : 52|4@1+ (1,0) [0|15] "" XXX
SG_ DAS_settingChecksum : 63|8@0+ (1,0) [0|255] "" XXX SG_ DAS_settingChecksum : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 785 UI_warning: 7 XXX BO_ 785 UI_warning: 7 XXX
SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX
SG_ scrollWheelRightTilt : 21|1@0+ (1,0) [0|1] "" XXX SG_ scrollWheelPressed : 21|1@0+ (1,0) [0|1] "" XXX
SG_ leftBlinkerOn : 22|1@0+ (1,0) [0|1] "" XXX SG_ leftBlinkerOn : 22|1@0+ (1,0) [0|1] "" XXX
SG_ rightBlinkerOn : 23|1@0+ (1,0) [0|1] "" XXX SG_ rightBlinkerOn : 23|1@0+ (1,0) [0|1] "" XXX
SG_ leftBlinkerBlinking : 25|2@0+ (1,0) [0|3] "" XXX
SG_ rightBlinkerBlinking : 26|2@1+ (1,0) [0|15] "" XXX
SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX
SG_ wiperSettings : 39|8@0+ (1,0) [0|255] "" XXX SG_ wiperSettings : 39|8@0+ (1,0) [0|255] "" XXX
SG_ highBeam : 50|1@0+ (1,0) [0|1] "" XXX SG_ highBeam : 50|1@0+ (1,0) [0|1] "" XXX
@ -266,11 +283,12 @@ BO_ 923 DAS_status: 8 PARTY
SG_ DAS_autopilotState : 0|4@1+ (1,0) [0|15] "" aps SG_ DAS_autopilotState : 0|4@1+ (1,0) [0|15] "" aps
CM_ BO_ 605 "Bytes change when toggling between FSD and AP, as well as Traffic Light and Stop Sign Control in TACC";
CM_ SG_ 659 DAS_autosteerEnabled "1 if Autosteer or FSD is enabled, 0 otherwise";
CM_ SG_ 785 leftBlinkerOn "only describes stalk position if half pressed without auto-cancel blinkers. otherwise acts as expected";
CM_ SG_ 785 rightBlinkerOn "only describes stalk position if half pressed without auto-cancel blinkers. otherwise acts as expected";
CM_ SG_ 785 scrollWheelPressed "captures either scroll wheel left, right or down press";
VAL_ 545 VCFRONT_uiAudioLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ; VAL_ 545 VCFRONT_uiAudioLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ;
VAL_ 545 VCFRONT_uiHiCurrentLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ; VAL_ 545 VCFRONT_uiHiCurrentLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ;
@ -331,6 +349,7 @@ VAL_ 280 DI_immobilizerState 2 "DI_IMM_STATE_AUTHENTICATING" 0 "DI_IMM_STATE_INI
VAL_ 280 DI_gear 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" 7 "DI_GEAR_SNA" 2 "DI_GEAR_R" 3 "DI_GEAR_N" 4 "DI_GEAR_D" ; VAL_ 280 DI_gear 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" 7 "DI_GEAR_SNA" 2 "DI_GEAR_R" 3 "DI_GEAR_N" 4 "DI_GEAR_D" ;
VAL_ 280 DI_brakePedalState 2 "INVALID" 0 "OFF" 1 "ON" ; VAL_ 280 DI_brakePedalState 2 "INVALID" 0 "OFF" 1 "ON" ;
VAL_ 280 DI_systemState 5 "DI_SYS_ENABLE" 1 "DI_SYS_IDLE" 2 "DI_SYS_STANDBY" 0 "DI_SYS_UNAVAILABLE" 3 "DI_SYS_FAULT" 4 "DI_SYS_ABORT" ; VAL_ 280 DI_systemState 5 "DI_SYS_ENABLE" 1 "DI_SYS_IDLE" 2 "DI_SYS_STANDBY" 0 "DI_SYS_UNAVAILABLE" 3 "DI_SYS_FAULT" 4 "DI_SYS_ABORT" ;
VAL_ 605 DAS_trafficLightColor 0 "NONE" 1 "RED" 2 "GREEN" 3 "YELLOW" ;
VAL_ 697 DAS_accelMax 511 "SNA" ; VAL_ 697 DAS_accelMax 511 "SNA" ;
VAL_ 697 DAS_accelMin 511 "SNA" ; VAL_ 697 DAS_accelMin 511 "SNA" ;
VAL_ 697 DAS_jerkMax 255 "SNA" ; VAL_ 697 DAS_jerkMax 255 "SNA" ;
@ -385,8 +404,15 @@ VAL_ 646 DI_parkBrakeState 0 "UNAVAILABLE" 1 "RELEASED" 2 "REQUESTED" 3 "APPLIED
VAL_ 646 DI_autoparkState 0 "UNAVAILABLE" 1 "STANDBY" 2 "STARTED" 3 "ACTIVE" 4 "COMPLETE" 5 "PAUSED" 6 "ABORTED" 7 "RESUMED" 8 "UNPARK_COMPLETE" 9 "SELFPARK_STARTED" 15 "SNA" ; VAL_ 646 DI_autoparkState 0 "UNAVAILABLE" 1 "STANDBY" 2 "STARTED" 3 "ACTIVE" 4 "COMPLETE" 5 "PAUSED" 6 "ABORTED" 7 "RESUMED" 8 "UNPARK_COMPLETE" 9 "SELFPARK_STARTED" 15 "SNA" ;
VAL_ 646 DI_speedUnits 0 "MPH" 1 "KPH" ; VAL_ 646 DI_speedUnits 0 "MPH" 1 "KPH" ;
VAL_ 646 DI_cruiseState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "OVERRIDE" 5 "FAULT" 6 "PRE_FAULT" 7 "PRE_CANCEL" ; VAL_ 646 DI_cruiseState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "OVERRIDE" 5 "FAULT" 6 "PRE_FAULT" 7 "PRE_CANCEL" ;
VAL_ 659 DAS_driverSteeringWeight 0 "light" 1 "standard" 2 "heavy";
VAL_ 659 DAS_offRoadAssist 0 "disabled" 3 "enabled";
VAL_ 659 DAS_distanceUnits 1 "miles" 0 "kilometers";
VAL_ 659 DAS_fcwSensitivity 0 "early" 1 "medium" 2 "late" 3 "off";
VAL_ 659 DAS_driverAccelerationMode 0 "chill" 1 "standard";
VAL_ 785 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ; VAL_ 785 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ;
VAL_ 785 anyDoorOpen 1 "OPEN" 0 "CLOSED" ; VAL_ 785 anyDoorOpen 1 "OPEN" 0 "CLOSED" ;
VAL_ 785 leftBlinkerBlinking 0 "off" 1 "blinking, off" 2 "blinking, on";
VAL_ 785 rightBlinkerBlinking 0 "off" 1 "blinking, off" 2 "blinking, on";
VAL_ 923 DAS_autoLaneChangeState 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 17 "ALC_ABORT_POOR_VIEW_RANGE" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 0 "ALC_UNAVAILABLE_DISABLED" 26 "ALC_BLOCKED_LANE_TYPE_L" 29 "ALC_ABORT_TIMEOUT" 9 "ALC_IN_PROGRESS_L" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 22 "ALC_BLOCKED_VEH_TTC_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 18 "ALC_ABORT_LC_HEALTH_BAD" 28 "ALC_WAITING_HANDS_ON" 8 "ALC_AVAILABLE_BOTH" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 24 "ALC_BLOCKED_VEH_TTC_R" 1 "ALC_UNAVAILABLE_NO_LANES" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 27 "ALC_BLOCKED_LANE_TYPE_R" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 31 "ALC_SNA" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 6 "ALC_AVAILABLE_ONLY_L" 20 "ALC_ABORT_OTHER_REASON" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 7 "ALC_AVAILABLE_ONLY_R" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 10 "ALC_IN_PROGRESS_R" ; VAL_ 923 DAS_autoLaneChangeState 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 17 "ALC_ABORT_POOR_VIEW_RANGE" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 0 "ALC_UNAVAILABLE_DISABLED" 26 "ALC_BLOCKED_LANE_TYPE_L" 29 "ALC_ABORT_TIMEOUT" 9 "ALC_IN_PROGRESS_L" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 22 "ALC_BLOCKED_VEH_TTC_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 18 "ALC_ABORT_LC_HEALTH_BAD" 28 "ALC_WAITING_HANDS_ON" 8 "ALC_AVAILABLE_BOTH" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 24 "ALC_BLOCKED_VEH_TTC_R" 1 "ALC_UNAVAILABLE_NO_LANES" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 27 "ALC_BLOCKED_LANE_TYPE_R" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 31 "ALC_SNA" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 6 "ALC_AVAILABLE_ONLY_L" 20 "ALC_ABORT_OTHER_REASON" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 7 "ALC_AVAILABLE_ONLY_R" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 10 "ALC_IN_PROGRESS_R" ;
VAL_ 923 DAS_autopilotHandsOnState 8 "LC_HANDS_ON_SUSPENDED" 15 "LC_HANDS_ON_SNA" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 3 "LC_HANDS_ON_REQD_VISUAL" 4 "LC_HANDS_ON_REQD_CHIME_1" 6 "LC_HANDS_ON_REQD_SLOWING" 1 "LC_HANDS_ON_REQD_DETECTED" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 5 "LC_HANDS_ON_REQD_CHIME_2" 0 "LC_HANDS_ON_NOT_REQD" ; VAL_ 923 DAS_autopilotHandsOnState 8 "LC_HANDS_ON_SUSPENDED" 15 "LC_HANDS_ON_SNA" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 3 "LC_HANDS_ON_REQD_VISUAL" 4 "LC_HANDS_ON_REQD_CHIME_1" 6 "LC_HANDS_ON_REQD_SLOWING" 1 "LC_HANDS_ON_REQD_DETECTED" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 5 "LC_HANDS_ON_REQD_CHIME_2" 0 "LC_HANDS_ON_NOT_REQD" ;
VAL_ 923 DAS_fleetSpeedState 0 "FLEETSPEED_UNAVAILABLE" 1 "FLEETSPEED_AVAILABLE" 2 "FLEETSPEED_ACTIVE" 3 "FLEETSPEED_HOLD" ; VAL_ 923 DAS_fleetSpeedState 0 "FLEETSPEED_UNAVAILABLE" 1 "FLEETSPEED_AVAILABLE" 2 "FLEETSPEED_ACTIVE" 3 "FLEETSPEED_HOLD" ;
@ -404,6 +430,3 @@ VAL_ 923 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ;
VAL_ 923 DAS_blindSpotRearRight 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ; VAL_ 923 DAS_blindSpotRearRight 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
VAL_ 923 DAS_blindSpotRearLeft 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ; VAL_ 923 DAS_blindSpotRearLeft 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ;
VAL_ 923 DAS_autopilotState 15 "SNA" 8 "ABORTING" 3 "ACTIVE_NOMINAL" 0 "DISABLED" 4 "ACTIVE_RESTRICTED" 5 "ACTIVE_NAV" 14 "FAULT" 1 "UNAVAILABLE" 9 "ABORTED" 2 "AVAILABLE" ; VAL_ 923 DAS_autopilotState 15 "SNA" 8 "ABORTING" 3 "ACTIVE_NOMINAL" 0 "DISABLED" 4 "ACTIVE_RESTRICTED" 5 "ACTIVE_NAV" 14 "FAULT" 1 "UNAVAILABLE" 9 "ABORTED" 2 "AVAILABLE" ;

0
opendbc_repo/opendbc/dbc/vw_mqb_2010.dbc → opendbc_repo/opendbc/dbc/vw_mqb.dbc
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0
opendbc_repo/opendbc/dbc/vw_golf_mk4.dbc → opendbc_repo/opendbc/dbc/vw_pq.dbc
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1
opendbc_repo/opendbc/safety/board/drivers/can_common.h
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@ -1,3 +1,4 @@
#pragma once
#include "can_common_declarations.h" #include "can_common_declarations.h"
uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) { uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) {

2
opendbc_repo/opendbc/safety/board/utils.h
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@ -42,6 +42,6 @@
// compute the time elapsed (in microseconds) from 2 counter samples // compute the time elapsed (in microseconds) from 2 counter samples
// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t // case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) { static inline uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
return ts - ts_last; return ts - ts_last;
} }

89
opendbc_repo/opendbc/safety/safety.h
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@ -27,36 +27,6 @@
#include "safety/safety_hyundai_canfd.h" #include "safety/safety_hyundai_canfd.h"
#endif #endif
// from cereal.car.CarParams.SafetyModel
#define SAFETY_SILENT 0U
#define SAFETY_HONDA_NIDEC 1U
#define SAFETY_TOYOTA 2U
#define SAFETY_ELM327 3U
#define SAFETY_GM 4U
#define SAFETY_HONDA_BOSCH_GIRAFFE 5U
#define SAFETY_FORD 6U
#define SAFETY_HYUNDAI 8U
#define SAFETY_CHRYSLER 9U
#define SAFETY_TESLA 10U
#define SAFETY_SUBARU 11U
#define SAFETY_MAZDA 13U
#define SAFETY_NISSAN 14U
#define SAFETY_VOLKSWAGEN_MQB 15U
#define SAFETY_ALLOUTPUT 17U
#define SAFETY_GM_ASCM 18U
#define SAFETY_NOOUTPUT 19U
#define SAFETY_HONDA_BOSCH 20U
#define SAFETY_VOLKSWAGEN_PQ 21U
#define SAFETY_SUBARU_PREGLOBAL 22U
#define SAFETY_HYUNDAI_LEGACY 23U
#define SAFETY_HYUNDAI_COMMUNITY 24U
#define SAFETY_STELLANTIS 25U
#define SAFETY_FAW 26U
#define SAFETY_BODY 27U
#define SAFETY_HYUNDAI_CANFD 28U
#define SAFETY_RIVIAN 33U
#define SAFETY_VOLKSWAGEN_MEB 34U
uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) { uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
uint32_t ret = 0U; uint32_t ret = 0U;
for (int i = 0; i < len; i++) { for (int i = 0; i < len; i++) {
@ -77,6 +47,8 @@ bool brake_pressed = false;
bool brake_pressed_prev = false; bool brake_pressed_prev = false;
bool regen_braking = false; bool regen_braking = false;
bool regen_braking_prev = false; bool regen_braking_prev = false;
bool steering_disengage;
bool steering_disengage_prev;
bool cruise_engaged_prev = false; bool cruise_engaged_prev = false;
struct sample_t vehicle_speed; struct sample_t vehicle_speed;
bool vehicle_moving = false; bool vehicle_moving = false;
@ -114,6 +86,9 @@ uint16_t current_safety_param = 0;
static const safety_hooks *current_hooks = &nooutput_hooks; static const safety_hooks *current_hooks = &nooutput_hooks;
safety_config current_safety_config; safety_config current_safety_config;
static void generic_rx_checks(void);
static void stock_ecu_check(bool stock_ecu_detected);
static bool is_msg_valid(RxCheck addr_list[], int index) { static bool is_msg_valid(RxCheck addr_list[], int index) {
bool valid = true; bool valid = true;
if (index != -1) { if (index != -1) {
@ -216,15 +191,18 @@ bool safety_rx_hook(const CANPacket_t *to_push) {
current_hooks->rx(to_push); current_hooks->rx(to_push);
} }
// Handles gas, brake, and regen paddle
generic_rx_checks();
// the relay malfunction hook runs on all incoming rx messages. // the relay malfunction hook runs on all incoming rx messages.
// check all tx msgs for liveness on sending bus if specified. // check all applicable tx msgs for liveness on sending bus.
// used to detect a relay malfunction or control messages from disabled ECUs like the radar // used to detect a relay malfunction or control messages from disabled ECUs like the radar
const int bus = GET_BUS(to_push); const int bus = GET_BUS(to_push);
const int addr = GET_ADDR(to_push); const int addr = GET_ADDR(to_push);
for (int i = 0; i < current_safety_config.tx_msgs_len; i++) { for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
const CanMsg *m = &current_safety_config.tx_msgs[i]; const CanMsg *m = &current_safety_config.tx_msgs[i];
if (m->check_relay) { if (m->check_relay) {
generic_rx_checks((m->addr == addr) && (m->bus == bus)); stock_ecu_check((m->addr == addr) && (m->bus == bus));
} }
} }
@ -280,11 +258,24 @@ static int get_fwd_bus(int bus_num) {
int safety_fwd_hook(int bus_num, int addr) { int safety_fwd_hook(int bus_num, int addr) {
bool blocked = relay_malfunction || current_safety_config.disable_forwarding; bool blocked = relay_malfunction || current_safety_config.disable_forwarding;
// Block messages that are being checked for relay malfunctions. Safety modes can opt out of this
// in the case of selective AEB forwarding
const int destination_bus = get_fwd_bus(bus_num);
if (!blocked) {
for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
const CanMsg *m = &current_safety_config.tx_msgs[i];
if (m->check_relay && !m->disable_static_blocking && (m->addr == addr) && (m->bus == destination_bus)) {
blocked = true;
break;
}
}
}
if (!blocked && (current_hooks->fwd != NULL)) { if (!blocked && (current_hooks->fwd != NULL)) {
blocked = current_hooks->fwd(bus_num, addr); blocked = current_hooks->fwd(bus_num, addr);
} }
return blocked ? -1 : get_fwd_bus(bus_num); return blocked ? -1 : destination_bus;
} }
bool get_longitudinal_allowed(void) { bool get_longitudinal_allowed(void) {
@ -355,10 +346,7 @@ static void relay_malfunction_set(void) {
fault_occurred(FAULT_RELAY_MALFUNCTION); fault_occurred(FAULT_RELAY_MALFUNCTION);
} }
static void generic_rx_checks(bool stock_ecu_detected) { static void generic_rx_checks(void) {
// allow 1s of transition timeout after relay changes state before assessing malfunctioning
const uint32_t RELAY_TRNS_TIMEOUT = 1U;
// exit controls on rising edge of gas press // exit controls on rising edge of gas press
if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) { if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = false; controls_allowed = false;
@ -377,6 +365,17 @@ static void generic_rx_checks(bool stock_ecu_detected) {
} }
regen_braking_prev = regen_braking; regen_braking_prev = regen_braking;
// exit controls on rising edge of steering override/disengage
if (steering_disengage && !steering_disengage_prev) {
controls_allowed = false;
}
steering_disengage_prev = steering_disengage;
}
static void stock_ecu_check(bool stock_ecu_detected) {
// allow 1s of transition timeout after relay changes state before assessing malfunctioning
const uint32_t RELAY_TRNS_TIMEOUT = 1U;
// check if stock ECU is on bus broken by car harness // check if stock ECU is on bus broken by car harness
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) { if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) {
relay_malfunction_set(); relay_malfunction_set();
@ -435,6 +434,8 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
brake_pressed_prev = false; brake_pressed_prev = false;
regen_braking = false; regen_braking = false;
regen_braking_prev = false; regen_braking_prev = false;
steering_disengage = false;
steering_disengage_prev = false;
cruise_engaged_prev = false; cruise_engaged_prev = false;
vehicle_moving = false; vehicle_moving = false;
acc_main_on = false; acc_main_on = false;
@ -643,13 +644,21 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
uint32_t ts = microsecond_timer_get(); uint32_t ts = microsecond_timer_get();
if (controls_allowed) { if (controls_allowed) {
// Some safety models support variable torque limit based on vehicle speed
int max_torque = limits.max_torque;
if (limits.dynamic_max_torque) {
const float fudged_speed = (vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.;
max_torque = interpolate(limits.max_torque_lookup, fudged_speed) + 1;
max_torque = CLAMP(max_torque, -limits.max_torque, limits.max_torque);
}
// *** global torque limit check *** // *** global torque limit check ***
violation |= max_limit_check(desired_torque, limits.max_steer, -limits.max_steer); violation |= max_limit_check(desired_torque, max_torque, -max_torque);
// *** torque rate limit check *** // *** torque rate limit check ***
if (limits.type == TorqueDriverLimited) { if (limits.type == TorqueDriverLimited) {
violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver, violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
limits.max_steer, limits.max_rate_up, limits.max_rate_down, max_torque, limits.max_rate_up, limits.max_rate_down,
limits.driver_torque_allowance, limits.driver_torque_multiplier); limits.driver_torque_allowance, limits.driver_torque_multiplier);
} else { } else {
violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas,
@ -662,7 +671,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueStee
// every RT_INTERVAL set the new limits // every RT_INTERVAL set the new limits
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_torque_check_last); uint32_t ts_elapsed = get_ts_elapsed(ts, ts_torque_check_last);
if (ts_elapsed > limits.max_rt_interval) { if (ts_elapsed > MAX_TORQUE_RT_INTERVAL) {
rt_torque_last = desired_torque; rt_torque_last = desired_torque;
ts_torque_check_last = ts; ts_torque_check_last = ts;
} }

6
opendbc_repo/opendbc/safety/safety/safety_body.h
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@ -34,9 +34,9 @@ static safety_config body_init(uint16_t param) {
{.msg = {{0x201, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}}, {.msg = {{0x201, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 100U}, { 0 }, { 0 }}},
}; };
static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, false}, {0x250, 0, 6, false}, {0x251, 0, 5, false}, // body static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, .check_relay = false}, {0x250, 0, 6, .check_relay = false}, {0x251, 0, 5, .check_relay = false}, // body
{0x350, 0, 8, false}, {0x350, 0, 6, false}, {0x351, 0, 5, false}, // knee {0x350, 0, 8, .check_relay = false}, {0x350, 0, 6, .check_relay = false}, {0x351, 0, 5, .check_relay = false}, // knee
{0x1, 0, 8, false}}; // CAN flasher {0x1, 0, 8, .check_relay = false}}; // CAN flasher
UNUSED(param); UNUSED(param);
safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS); safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);

40
opendbc_repo/opendbc/safety/safety/safety_chrysler.h
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@ -104,9 +104,8 @@ static void chrysler_rx_hook(const CANPacket_t *to_push) {
static bool chrysler_tx_hook(const CANPacket_t *to_send) { static bool chrysler_tx_hook(const CANPacket_t *to_send) {
const TorqueSteeringLimits CHRYSLER_STEERING_LIMITS = { const TorqueSteeringLimits CHRYSLER_STEERING_LIMITS = {
.max_steer = 261, .max_torque = 261,
.max_rt_delta = 112, .max_rt_delta = 112,
.max_rt_interval = 250000,
.max_rate_up = 3, .max_rate_up = 3,
.max_rate_down = 3, .max_rate_down = 3,
.max_torque_error = 80, .max_torque_error = 80,
@ -114,9 +113,8 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
}; };
const TorqueSteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = { const TorqueSteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
.max_steer = 350, .max_torque = 350,
.max_rt_delta = 112, .max_rt_delta = 112,
.max_rt_interval = 250000,
.max_rate_up = 6, .max_rate_up = 6,
.max_rate_down = 6, .max_rate_down = 6,
.max_torque_error = 80, .max_torque_error = 80,
@ -124,9 +122,8 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
}; };
const TorqueSteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = { const TorqueSteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
.max_steer = 361, .max_torque = 361,
.max_rt_delta = 182, .max_rt_delta = 182,
.max_rt_interval = 250000,
.max_rate_up = 14, .max_rate_up = 14,
.max_rate_down = 14, .max_rate_down = 14,
.max_torque_error = 80, .max_torque_error = 80,
@ -164,18 +161,6 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
return tx; return tx;
} }
static bool chrysler_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
// forward all messages from camera except LKAS messages
const bool is_lkas = ((addr == chrysler_addrs->LKAS_COMMAND) || (addr == chrysler_addrs->DAS_6));
if ((bus_num == 2) && is_lkas){
block_msg = true;
}
return block_msg;
}
static safety_config chrysler_init(uint16_t param) { static safety_config chrysler_init(uint16_t param) {
const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform
@ -222,15 +207,15 @@ static safety_config chrysler_init(uint16_t param) {
}; };
static const CanMsg CHRYSLER_TX_MSGS[] = { static const CanMsg CHRYSLER_TX_MSGS[] = {
{CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3, false}, {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3, .check_relay = false},
{CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6, true}, {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6, .check_relay = true},
{CHRYSLER_ADDRS.DAS_6, 0, 8, false}, {CHRYSLER_ADDRS.DAS_6, 0, 8, .check_relay = true},
}; };
static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = { static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
{CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3, false}, {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3, .check_relay = false},
{CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8, true}, {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8, .check_relay = true},
{CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8, false}, {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8, .check_relay = true},
}; };
#ifdef ALLOW_DEBUG #ifdef ALLOW_DEBUG
@ -255,9 +240,9 @@ static safety_config chrysler_init(uint16_t param) {
}; };
static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = { static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
{CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3, false}, {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3, .check_relay = false},
{CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8, true}, {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8, .check_relay = true},
{CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8, false}, {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8, .check_relay = true},
}; };
const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform
@ -290,7 +275,6 @@ const safety_hooks chrysler_hooks = {
.init = chrysler_init, .init = chrysler_init,
.rx = chrysler_rx_hook, .rx = chrysler_rx_hook,
.tx = chrysler_tx_hook, .tx = chrysler_tx_hook,
.fwd = chrysler_fwd_hook,
.get_counter = chrysler_get_counter, .get_counter = chrysler_get_counter,
.get_checksum = chrysler_get_checksum, .get_checksum = chrysler_get_checksum,
.compute_checksum = chrysler_compute_checksum, .compute_checksum = chrysler_compute_checksum,

63
opendbc_repo/opendbc/safety/safety/safety_ford.h
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@ -69,7 +69,6 @@ static uint32_t ford_compute_checksum(const CANPacket_t *to_push) {
chksum = 0xFFU - chksum; chksum = 0xFFU - chksum;
} else { } else {
} }
return chksum; return chksum;
} }
@ -88,9 +87,6 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *to_push) {
return valid; return valid;
} }
static bool ford_canfd = false;
static bool ford_longitudinal = false;
#define FORD_INACTIVE_CURVATURE 1000U #define FORD_INACTIVE_CURVATURE 1000U
#define FORD_INACTIVE_CURVATURE_RATE 4096U #define FORD_INACTIVE_CURVATURE_RATE 4096U
#define FORD_INACTIVE_PATH_OFFSET 512U #define FORD_INACTIVE_PATH_OFFSET 512U
@ -100,14 +96,6 @@ static bool ford_longitudinal = false;
#define FORD_MAX_SPEED_DELTA 2.0 // m/s #define FORD_MAX_SPEED_DELTA 2.0 // m/s
static bool ford_lkas_msg_check(int addr) {
return (addr == FORD_ACCDATA_3)
|| (addr == FORD_Lane_Assist_Data1)
|| ((addr == FORD_LateralMotionControl) && !ford_canfd)
|| ((addr == FORD_LateralMotionControl2) && ford_canfd)
|| (addr == FORD_IPMA_Data);
}
// Curvature rate limits // Curvature rate limits
#define FORD_LIMITS(limit_lateral_acceleration) { \ #define FORD_LIMITS(limit_lateral_acceleration) { \
.max_angle = 1000, /* 0.02 curvature */ \ .max_angle = 1000, /* 0.02 curvature */ \
@ -154,6 +142,7 @@ static void ford_rx_hook(const CANPacket_t *to_push) {
// Signal: Veh_V_ActlEng // Signal: Veh_V_ActlEng
float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6; float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
bool is_invalid_speed = ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA; bool is_invalid_speed = ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA;
// TODO: this should generically cause rx valid to fall until re-enable
if (is_invalid_speed) { if (is_invalid_speed) {
controls_allowed = false; controls_allowed = false;
} }
@ -311,29 +300,6 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
return tx; return tx;
} }
static bool ford_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
switch (bus_num) {
case FORD_CAM_BUS: {
if (ford_lkas_msg_check(addr)) {
// Block stock LKAS and UI messages
block_msg = true;
} else if (ford_longitudinal && (addr == FORD_ACCDATA)) {
// Block stock ACC message
block_msg = true;
} else {
}
break;
}
default: {
break;
}
}
return block_msg;
}
static safety_config ford_init(uint16_t param) { static safety_config ford_init(uint16_t param) {
// warning: quality flags are not yet checked in openpilot's CAN parser, // warning: quality flags are not yet checked in openpilot's CAN parser,
// this may be the cause of blocked messages // this may be the cause of blocked messages
@ -351,38 +317,38 @@ static safety_config ford_init(uint16_t param) {
}; };
#define FORD_COMMON_TX_MSGS \ #define FORD_COMMON_TX_MSGS \
{FORD_Steering_Data_FD1, 0, 8, false}, \ {FORD_Steering_Data_FD1, 0, 8, .check_relay = false}, \
{FORD_Steering_Data_FD1, 2, 8, false}, \ {FORD_Steering_Data_FD1, 2, 8, .check_relay = false}, \
{FORD_ACCDATA_3, 0, 8, true}, \ {FORD_ACCDATA_3, 0, 8, .check_relay = true}, \
{FORD_Lane_Assist_Data1, 0, 8, true}, \ {FORD_Lane_Assist_Data1, 0, 8, .check_relay = true}, \
{FORD_IPMA_Data, 0, 8, true}, \ {FORD_IPMA_Data, 0, 8, .check_relay = true}, \
static const CanMsg FORD_CANFD_LONG_TX_MSGS[] = { static const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
FORD_COMMON_TX_MSGS FORD_COMMON_TX_MSGS
{FORD_ACCDATA, 0, 8, true}, {FORD_ACCDATA, 0, 8, .check_relay = true},
{FORD_LateralMotionControl2, 0, 8, true}, {FORD_LateralMotionControl2, 0, 8, .check_relay = true},
}; };
static const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = { static const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
FORD_COMMON_TX_MSGS FORD_COMMON_TX_MSGS
{FORD_LateralMotionControl2, 0, 8, true}, {FORD_LateralMotionControl2, 0, 8, .check_relay = true},
}; };
static const CanMsg FORD_STOCK_TX_MSGS[] = { static const CanMsg FORD_STOCK_TX_MSGS[] = {
FORD_COMMON_TX_MSGS FORD_COMMON_TX_MSGS
{FORD_LateralMotionControl, 0, 8, true}, {FORD_LateralMotionControl, 0, 8, .check_relay = true},
}; };
static const CanMsg FORD_LONG_TX_MSGS[] = { static const CanMsg FORD_LONG_TX_MSGS[] = {
FORD_COMMON_TX_MSGS FORD_COMMON_TX_MSGS
{FORD_ACCDATA, 0, 8, true}, {FORD_ACCDATA, 0, 8, .check_relay = true},
{FORD_LateralMotionControl, 0, 8, true}, {FORD_LateralMotionControl, 0, 8, .check_relay = true},
}; };
const uint16_t FORD_PARAM_CANFD = 2; const uint16_t FORD_PARAM_CANFD = 2;
ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD); const bool ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
ford_longitudinal = false; bool ford_longitudinal = false;
#ifdef ALLOW_DEBUG #ifdef ALLOW_DEBUG
const uint16_t FORD_PARAM_LONGITUDINAL = 1; const uint16_t FORD_PARAM_LONGITUDINAL = 1;
@ -407,7 +373,6 @@ const safety_hooks ford_hooks = {
.init = ford_init, .init = ford_init,
.rx = ford_rx_hook, .rx = ford_rx_hook,
.tx = ford_tx_hook, .tx = ford_tx_hook,
.fwd = ford_fwd_hook,
.get_counter = ford_get_counter, .get_counter = ford_get_counter,
.get_checksum = ford_get_checksum, .get_checksum = ford_get_checksum,
.compute_checksum = ford_compute_checksum, .compute_checksum = ford_compute_checksum,

70
opendbc_repo/opendbc/safety/safety/safety_gm.h
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@ -27,7 +27,6 @@ typedef enum {
GM_CAM GM_CAM
} GmHardware; } GmHardware;
static GmHardware gm_hw = GM_ASCM; static GmHardware gm_hw = GM_ASCM;
static bool gm_cam_long = false;
static bool gm_pcm_cruise = false; static bool gm_pcm_cruise = false;
static void gm_rx_hook(const CANPacket_t *to_push) { static void gm_rx_hook(const CANPacket_t *to_push) {
@ -98,13 +97,12 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
static bool gm_tx_hook(const CANPacket_t *to_send) { static bool gm_tx_hook(const CANPacket_t *to_send) {
const TorqueSteeringLimits GM_STEERING_LIMITS = { const TorqueSteeringLimits GM_STEERING_LIMITS = {
.max_steer = 300, .max_torque = 300,
.max_rate_up = 10, .max_rate_up = 10,
.max_rate_down = 15, .max_rate_down = 15,
.driver_torque_allowance = 65, .driver_torque_allowance = 65,
.driver_torque_multiplier = 4, .driver_torque_multiplier = 4,
.max_rt_delta = 128, .max_rt_delta = 128,
.max_rt_interval = 250000,
.type = TorqueDriverLimited, .type = TorqueDriverLimited,
}; };
@ -135,7 +133,8 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
// GAS/REGEN: safety check // GAS/REGEN: safety check
if (addr == 0x2CB) { if (addr == 0x2CB) {
bool apply = GET_BIT(to_send, 0U); bool apply = GET_BIT(to_send, 0U);
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3); // convert float CAN signal to an int for gas checks: 22534 / 0.125 = 180272
int gas_regen = (((GET_BYTE(to_send, 1) & 0x7U) << 16) | (GET_BYTE(to_send, 2) << 8) | GET_BYTE(to_send, 3)) - 180272U;
bool violation = false; bool violation = false;
// Allow apply bit in pre-enabled and overriding states // Allow apply bit in pre-enabled and overriding states
@ -160,56 +159,35 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
return tx; return tx;
} }
static bool gm_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
if (gm_hw == GM_CAM) {
if (bus_num == 0) {
// block PSCMStatus; forwarded through openpilot to hide an alert from the camera
bool is_pscm_msg = (addr == 0x184);
if (is_pscm_msg) {
block_msg = true;
}
}
if (bus_num == 2) {
// block lkas message and acc messages if gm_cam_long, forward all others
bool is_lkas_msg = (addr == 0x180);
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
}
} else {
block_msg = true;
}
return block_msg;
}
static safety_config gm_init(uint16_t param) { static safety_config gm_init(uint16_t param) {
const uint16_t GM_PARAM_HW_CAM = 1; const uint16_t GM_PARAM_HW_CAM = 1;
const uint16_t GM_PARAM_EV = 4; const uint16_t GM_PARAM_EV = 4;
// common safety checks assume unscaled integer values
static const int GM_GAS_TO_CAN = 8; // 1 / 0.125
static const LongitudinalLimits GM_ASCM_LONG_LIMITS = { static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 3072, .max_gas = 1018 * GM_GAS_TO_CAN,
.min_gas = 1404, .min_gas = -650 * GM_GAS_TO_CAN,
.inactive_gas = 1404, .inactive_gas = -650 * GM_GAS_TO_CAN,
.max_brake = 400, .max_brake = 400,
}; };
static const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4, true}, {0x409, 0, 7, false}, {0x40A, 0, 7, false}, {0x2CB, 0, 8, true}, {0x370, 0, 6, false}, // pt bus static const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, // pt bus
{0xA1, 1, 7, false}, {0x306, 1, 8, false}, {0x308, 1, 7, false}, {0x310, 1, 2, false}, // obs bus {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus
{0x315, 2, 5, false}}; // ch bus {0x315, 2, 5, .check_relay = false}}; // ch bus
static const LongitudinalLimits GM_CAM_LONG_LIMITS = { static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 3400, .max_gas = 1346 * GM_GAS_TO_CAN,
.min_gas = 1514, .min_gas = -540 * GM_GAS_TO_CAN,
.inactive_gas = 1554, .inactive_gas = -500 * GM_GAS_TO_CAN,
.max_brake = 400, .max_brake = 400,
}; };
static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, true}, {0x315, 0, 5, false}, {0x2CB, 0, 8, true}, {0x370, 0, 6, false}, // pt bus // block PSCMStatus (0x184); forwarded through openpilot to hide an alert from the camera
{0x184, 2, 8, false}}; // camera bus static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, // pt bus
{0x184, 2, 8, .check_relay = true}}; // camera bus
static RxCheck gm_rx_checks[] = { static RxCheck gm_rx_checks[] = {
@ -221,8 +199,8 @@ static safety_config gm_init(uint16_t param) {
{.msg = {{0xBD, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 40U}, { 0 }, { 0 }}}, {.msg = {{0xBD, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 40U}, { 0 }, { 0 }}},
}; };
static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, true}, // pt bus static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, // pt bus
{0x1E1, 2, 7, false}, {0x184, 2, 8, false}}; // camera bus {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}}; // camera bus
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM; gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
@ -233,6 +211,8 @@ static safety_config gm_init(uint16_t param) {
} else { } else {
} }
bool gm_cam_long = false;
#ifdef ALLOW_DEBUG #ifdef ALLOW_DEBUG
const uint16_t GM_PARAM_HW_CAM_LONG = 2; const uint16_t GM_PARAM_HW_CAM_LONG = 2;
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG); gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
@ -253,6 +233,11 @@ static safety_config gm_init(uint16_t param) {
if (gm_ev) { if (gm_ev) {
SET_RX_CHECKS(gm_ev_rx_checks, ret); SET_RX_CHECKS(gm_ev_rx_checks, ret);
} }
// ASCM does not forward any messages
if (gm_hw == GM_ASCM) {
ret.disable_forwarding = true;
}
return ret; return ret;
} }
@ -260,5 +245,4 @@ const safety_hooks gm_hooks = {
.init = gm_init, .init = gm_init,
.rx = gm_rx_hook, .rx = gm_rx_hook,
.tx = gm_tx_hook, .tx = gm_tx_hook,
.fwd = gm_fwd_hook,
}; };

47
opendbc_repo/opendbc/safety/safety/safety_honda.h
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@ -278,7 +278,11 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
} }
static safety_config honda_nidec_init(uint16_t param) { static safety_config honda_nidec_init(uint16_t param) {
static CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5, true}, {0x194, 0, 4, true}, {0x1FA, 0, 8, false}, {0x30C, 0, 8, false}, {0x33D, 0, 5, false}}; // 0x1FA is dynamically forwarded based on stock AEB
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud
static CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x194, 0, 4, .check_relay = true}, {0x1FA, 0, 8, .check_relay = false},
{0x30C, 0, 8, .check_relay = true}, {0x33D, 0, 5, .check_relay = true}};
const uint16_t HONDA_PARAM_NIDEC_ALT = 4; const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
@ -318,10 +322,21 @@ static safety_config honda_nidec_init(uint16_t param) {
} }
static safety_config honda_bosch_init(uint16_t param) { static safety_config honda_bosch_init(uint16_t param) {
static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5, true}, {0xE5, 0, 8, false}, {0x296, 1, 4, false}, {0x33D, 0, 5, false}, {0x33DA, 0, 5, false}, {0x33DB, 0, 8, false}}; // Bosch // HONDA_BOSCH_TX_MSGS is used by Bosch and Bosch CAN FD
static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5, true}, {0x1DF, 1, 8, true}, {0x1EF, 1, 8, false}, {0x1FA, 1, 8, false}, {0x30C, 1, 8, false}, {0x33D, 1, 5, false}, {0x33DA, 1, 5, false}, {0x33DB, 1, 8, false}, {0x39F, 1, 8, false}, {0x18DAB0F1, 1, 8, false}}; // Bosch w/ gas and brakes static CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0xE5, 0, 8, .check_relay = true},
static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5, true}, {0x296, 2, 4, false}, {0x33D, 0, 8, false}}; // Bosch radarless // Send buttons on powertrain bus: 0 for Bosch CAN FD, 1 for CAN
static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, true}, {0x33D, 0, 8, false}, {0x1C8, 0, 8, false}, {0x30C, 0, 8, false}}; // Bosch radarless w/ gas and brakes {0x296, 0, 4, .check_relay = false}, {0x296, 1, 4, .check_relay = false},
{0x33D, 0, 5, .check_relay = true}, {0x33DA, 0, 5, .check_relay = true}, {0x33DB, 0, 8, .check_relay = true}}; // Bosch
static CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5, .check_relay = true}, {0x1DF, 1, 8, .check_relay = true}, {0x1EF, 1, 8, .check_relay = false},
{0x1FA, 1, 8, .check_relay = false}, {0x30C, 1, 8, .check_relay = false}, {0x33D, 1, 5, .check_relay = true},
{0x33DA, 1, 5, .check_relay = true}, {0x33DB, 1, 8, .check_relay = true}, {0x39F, 1, 8, .check_relay = false},
{0x18DAB0F1, 1, 8, .check_relay = false}}; // Bosch w/ gas and brakes
static CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x296, 2, 4, .check_relay = false}, {0x33D, 0, 8, .check_relay = true}}; // Bosch radarless
static CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5, .check_relay = true}, {0x33D, 0, 8, .check_relay = true}, {0x1C8, 0, 8, .check_relay = true},
{0x30C, 0, 8, .check_relay = true}}; // Bosch radarless w/ gas and brakes
const uint16_t HONDA_PARAM_ALT_BRAKE = 1; const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
const uint16_t HONDA_PARAM_RADARLESS = 8; const uint16_t HONDA_PARAM_RADARLESS = 8;
@ -386,29 +401,12 @@ static safety_config honda_bosch_init(uint16_t param) {
} }
static bool honda_nidec_fwd_hook(int bus_num, int addr) { static bool honda_nidec_fwd_hook(int bus_num, int addr) {
// fwd from car to camera. also fwd certain msgs from camera to car
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud
bool block_msg = false; bool block_msg = false;
if (bus_num == 2) { if (bus_num == 2) {
// block stock lkas messages and stock acc messages (if OP is doing ACC) // forwarded if stock AEB is active
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
bool is_acc_hud_msg = addr == 0x30C;
bool is_brake_msg = addr == 0x1FA; bool is_brake_msg = addr == 0x1FA;
block_msg = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake); block_msg = is_brake_msg && !honda_fwd_brake;
}
return block_msg;
}
static bool honda_bosch_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
if (bus_num == 2) {
bool is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
bool is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
block_msg = is_lkas_msg || is_acc_msg;
} }
return block_msg; return block_msg;
@ -428,7 +426,6 @@ const safety_hooks honda_bosch_hooks = {
.init = honda_bosch_init, .init = honda_bosch_init,
.rx = honda_rx_hook, .rx = honda_rx_hook,
.tx = honda_tx_hook, .tx = honda_tx_hook,
.fwd = honda_bosch_fwd_hook,
.get_counter = honda_get_counter, .get_counter = honda_get_counter,
.get_checksum = honda_get_checksum, .get_checksum = honda_get_checksum,
.compute_checksum = honda_compute_checksum, .compute_checksum = honda_compute_checksum,

44
opendbc_repo/opendbc/safety/safety/safety_hyundai.h
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@ -4,11 +4,10 @@
#include "safety_hyundai_common.h" #include "safety_hyundai_common.h"
#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \ #define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
.max_steer = (steer), \ .max_torque = (steer), \
.max_rate_up = (rate_up), \ .max_rate_up = (rate_up), \
.max_rate_down = (rate_down), \ .max_rate_down = (rate_down), \
.max_rt_delta = 112, \ .max_rt_delta = 112, \
.max_rt_interval = 250000, \
.driver_torque_allowance = 50, \ .driver_torque_allowance = 50, \
.driver_torque_multiplier = 2, \ .driver_torque_multiplier = 2, \
.type = TorqueDriverLimited, \ .type = TorqueDriverLimited, \
@ -27,17 +26,17 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
}; };
#define HYUNDAI_COMMON_TX_MSGS(scc_bus) \ #define HYUNDAI_COMMON_TX_MSGS(scc_bus) \
{0x340, 0, 8, true}, /* LKAS11 Bus 0 */ \ {0x340, 0, 8, .check_relay = true}, /* LKAS11 Bus 0 */ \
{0x4F1, scc_bus, 4, false}, /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \ {0x4F1, scc_bus, 4, .check_relay = false}, /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \
{0x485, 0, 4, false}, /* LFAHDA_MFC Bus 0 */ \ {0x485, 0, 4, .check_relay = true}, /* LFAHDA_MFC Bus 0 */ \
#define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus) \ #define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus) \
HYUNDAI_COMMON_TX_MSGS(scc_bus) \ HYUNDAI_COMMON_TX_MSGS(scc_bus) \
{0x420, 0, 8, false}, /* SCC11 Bus 0 */ \ {0x420, 0, 8, .check_relay = true}, /* SCC11 Bus 0 */ \
{0x421, 0, 8, (scc_bus) == 0}, /* SCC12 Bus 0 */ \ {0x421, 0, 8, .check_relay = true}, /* SCC12 Bus 0 */ \
{0x50A, 0, 8, false}, /* SCC13 Bus 0 */ \ {0x50A, 0, 8, .check_relay = true}, /* SCC13 Bus 0 */ \
{0x389, 0, 8, false}, /* SCC14 Bus 0 */ \ {0x389, 0, 8, .check_relay = true}, /* SCC14 Bus 0 */ \
{0x4A2, 0, 2, false}, /* FRT_RADAR11 Bus 0 */ \ {0x4A2, 0, 2, .check_relay = false}, /* FRT_RADAR11 Bus 0 */ \
#define HYUNDAI_COMMON_RX_CHECKS(legacy) \ #define HYUNDAI_COMMON_RX_CHECKS(legacy) \
{.msg = {{0x260, 0, 8, .max_counter = 3U, .frequency = 100U}, \ {.msg = {{0x260, 0, 8, .max_counter = 3U, .frequency = 100U}, \
@ -256,29 +255,12 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
return tx; return tx;
} }
static bool hyundai_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
if (bus_num == 2) {
// Stock LKAS11 messages
bool is_lkas_11 = (addr == 0x340);
// LFA and HDA cluster icons
bool is_lfahda_mfc = (addr == 0x485);
// Stock SCC messages, blocking when doing openpilot longitudinal on camera SCC cars
bool is_scc_msg = (addr == 0x420) || (addr == 0x421) || (addr == 0x50A) || (addr == 0x389);
block_msg = is_lkas_11 || is_lfahda_mfc || (is_scc_msg && hyundai_longitudinal && hyundai_camera_scc);
}
return block_msg;
}
static safety_config hyundai_init(uint16_t param) { static safety_config hyundai_init(uint16_t param) {
static const CanMsg HYUNDAI_LONG_TX_MSGS[] = { static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
HYUNDAI_LONG_COMMON_TX_MSGS(0) HYUNDAI_LONG_COMMON_TX_MSGS(0)
{0x38D, 0, 8, false}, // FCA11 Bus 0 {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
{0x483, 0, 8, false}, // FCA12 Bus 0 {0x483, 0, 8, .check_relay = false}, // FCA12 Bus 0
{0x7D0, 0, 8, false}, // radar UDS TX addr Bus 0 (for radar disable) {0x7D0, 0, 8, .check_relay = false}, // radar UDS TX addr Bus 0 (for radar disable)
}; };
static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = { static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
@ -362,7 +344,6 @@ const safety_hooks hyundai_hooks = {
.init = hyundai_init, .init = hyundai_init,
.rx = hyundai_rx_hook, .rx = hyundai_rx_hook,
.tx = hyundai_tx_hook, .tx = hyundai_tx_hook,
.fwd = hyundai_fwd_hook,
.get_counter = hyundai_get_counter, .get_counter = hyundai_get_counter,
.get_checksum = hyundai_get_checksum, .get_checksum = hyundai_get_checksum,
.compute_checksum = hyundai_compute_checksum, .compute_checksum = hyundai_compute_checksum,
@ -372,7 +353,6 @@ const safety_hooks hyundai_legacy_hooks = {
.init = hyundai_legacy_init, .init = hyundai_legacy_init,
.rx = hyundai_rx_hook, .rx = hyundai_rx_hook,
.tx = hyundai_tx_hook, .tx = hyundai_tx_hook,
.fwd = hyundai_fwd_hook,
.get_counter = hyundai_get_counter, .get_counter = hyundai_get_counter,
.get_checksum = hyundai_get_checksum, .get_checksum = hyundai_get_checksum,
.compute_checksum = hyundai_compute_checksum, .compute_checksum = hyundai_compute_checksum,

63
opendbc_repo/opendbc/safety/safety/safety_hyundai_canfd.h
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@ -4,24 +4,24 @@
#include "safety_hyundai_common.h" #include "safety_hyundai_common.h"
#define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \ #define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \
{0x1CF, bus, 8, false}, /* CRUISE_BUTTON */ \ {0x1CF, bus, 8, .check_relay = false}, /* CRUISE_BUTTON */ \
#define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \ #define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \ HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
{0x50, a_can, 16, (a_can) == 0}, /* LKAS */ \ {0x50, a_can, 16, .check_relay = (a_can) == 0}, /* LKAS */ \
{0x2A4, a_can, 24, false}, /* CAM_0x2A4 */ \ {0x2A4, a_can, 24, .check_relay = (a_can) == 0}, /* CAM_0x2A4 */ \
#define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \ #define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \ HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can) \
{0x110, a_can, 32, (a_can) == 0}, /* LKAS_ALT */ \ {0x110, a_can, 32, .check_relay = (a_can) == 0}, /* LKAS_ALT */ \
{0x362, a_can, 32, false}, /* CAM_0x362 */ \ {0x362, a_can, 32, .check_relay = (a_can) == 0}, /* CAM_0x362 */ \
#define HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(e_can) \ #define HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(e_can) \
{0x12A, e_can, 16, (e_can) == 0}, /* LFA */ \ {0x12A, e_can, 16, .check_relay = (e_can) == 0}, /* LFA */ \
{0x1E0, e_can, 16, false}, /* LFAHDA_CLUSTER */ \ {0x1E0, e_can, 16, .check_relay = (e_can) == 0}, /* LFAHDA_CLUSTER */ \
#define HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(e_can, longitudinal) \ #define HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(e_can, longitudinal) \
{0x1A0, e_can, 32, (longitudinal)}, /* SCC_CONTROL */ \ {0x1A0, e_can, 32, .check_relay = (longitudinal)}, /* SCC_CONTROL */ \
// *** Addresses checked in rx hook *** // *** Addresses checked in rx hook ***
// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105) // EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
@ -139,9 +139,8 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) { static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
const TorqueSteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = { const TorqueSteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
.max_steer = 270, .max_torque = 270,
.max_rt_delta = 112, .max_rt_delta = 112,
.max_rt_interval = 250000,
.max_rate_up = 2, .max_rate_up = 2,
.max_rate_down = 3, .max_rate_down = 3,
.driver_torque_allowance = 250, .driver_torque_allowance = 250,
@ -219,27 +218,6 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
return tx; return tx;
} }
static bool hyundai_canfd_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
if (bus_num == 2) {
// LKAS for cars with LKAS and LFA messages, LFA for cars with no LKAS messages
int lfa_block_addr = hyundai_canfd_lka_steering_alt ? 0x362 : 0x2a4;
bool is_lka_msg = ((addr == hyundai_canfd_get_lka_addr()) || (addr == lfa_block_addr)) && hyundai_canfd_lka_steering;
bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_lka_steering);
// HUD icons
bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_lka_steering);
// SCC_CONTROL and ADRV_0x160 for camera SCC cars, we send our own longitudinal commands and to show FCA light
bool is_scc_msg = (((addr == 0x1a0) || (addr == 0x160)) && hyundai_longitudinal && !hyundai_canfd_lka_steering);
block_msg = is_lka_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
}
return block_msg;
}
static safety_config hyundai_canfd_init(uint16_t param) { static safety_config hyundai_canfd_init(uint16_t param) {
const int HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128; const int HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32; const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
@ -256,13 +234,13 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1) HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1) HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true) HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
{0x51, 0, 32, false}, // ADRV_0x51 {0x51, 0, 32, .check_relay = false}, // ADRV_0x51
{0x730, 1, 8, false}, // tester present for ADAS ECU disable {0x730, 1, 8, .check_relay = false}, // tester present for ADAS ECU disable
{0x160, 1, 16, false}, // ADRV_0x160 {0x160, 1, 16, .check_relay = false}, // ADRV_0x160
{0x1EA, 1, 32, false}, // ADRV_0x1ea {0x1EA, 1, 32, .check_relay = false}, // ADRV_0x1ea
{0x200, 1, 8, false}, // ADRV_0x200 {0x200, 1, 8, .check_relay = false}, // ADRV_0x200
{0x345, 1, 8, false}, // ADRV_0x345 {0x345, 1, 8, .check_relay = false}, // ADRV_0x345
{0x1DA, 1, 32, false}, // ADRV_0x1da {0x1DA, 1, 32, .check_relay = false}, // ADRV_0x1da
}; };
static const CanMsg HYUNDAI_CANFD_LFA_STEERING_TX_MSGS[] = { static const CanMsg HYUNDAI_CANFD_LFA_STEERING_TX_MSGS[] = {
@ -271,19 +249,21 @@ static safety_config hyundai_canfd_init(uint16_t param) {
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, false) HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, false)
}; };
// ADRV_0x160 is checked for radar liveness
static const CanMsg HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS[] = { static const CanMsg HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS[] = {
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, true) HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, true)
{0x160, 0, 16, false}, // ADRV_0x160 {0x160, 0, 16, .check_relay = true}, // ADRV_0x160
{0x7D0, 0, 8, false}, // tester present for radar ECU disable {0x7D0, 0, 8, .check_relay = false}, // tester present for radar ECU disable
}; };
// ADRV_0x160 is checked for relay malfunction
#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(longitudinal) \ #define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(longitudinal) \
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \ HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \ HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \ HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
{0x160, 0, 16, false}, /* ADRV_0x160 */ \ {0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
hyundai_common_init(param); hyundai_common_init(param);
@ -399,7 +379,6 @@ const safety_hooks hyundai_canfd_hooks = {
.init = hyundai_canfd_init, .init = hyundai_canfd_init,
.rx = hyundai_canfd_rx_hook, .rx = hyundai_canfd_rx_hook,
.tx = hyundai_canfd_tx_hook, .tx = hyundai_canfd_tx_hook,
.fwd = hyundai_canfd_fwd_hook,
.get_counter = hyundai_canfd_get_counter, .get_counter = hyundai_canfd_get_counter,
.get_checksum = hyundai_canfd_get_checksum, .get_checksum = hyundai_canfd_get_checksum,
.compute_checksum = hyundai_common_canfd_compute_checksum, .compute_checksum = hyundai_common_canfd_compute_checksum,

18
opendbc_repo/opendbc/safety/safety/safety_mazda.h
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@ -50,11 +50,10 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
static bool mazda_tx_hook(const CANPacket_t *to_send) { static bool mazda_tx_hook(const CANPacket_t *to_send) {
const TorqueSteeringLimits MAZDA_STEERING_LIMITS = { const TorqueSteeringLimits MAZDA_STEERING_LIMITS = {
.max_steer = 800, .max_torque = 800,
.max_rate_up = 10, .max_rate_up = 10,
.max_rate_down = 25, .max_rate_down = 25,
.max_rt_delta = 300, .max_rt_delta = 300,
.max_rt_interval = 250000,
.driver_torque_multiplier = 1, .driver_torque_multiplier = 1,
.driver_torque_allowance = 15, .driver_torque_allowance = 15,
.type = TorqueDriverLimited, .type = TorqueDriverLimited,
@ -78,7 +77,7 @@ static bool mazda_tx_hook(const CANPacket_t *to_send) {
// cruise buttons check // cruise buttons check
if (addr == MAZDA_CRZ_BTNS) { if (addr == MAZDA_CRZ_BTNS) {
// allow resume spamming while controls allowed, but // allow resume spamming while controls allowed, but
// only allow cancel while contrls not allowed // only allow cancel while controls not allowed
bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U); bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U);
if (!controls_allowed && !cancel_cmd) { if (!controls_allowed && !cancel_cmd) {
tx = false; tx = false;
@ -89,18 +88,8 @@ static bool mazda_tx_hook(const CANPacket_t *to_send) {
return tx; return tx;
} }
static bool mazda_fwd_hook(int bus, int addr) {
bool block_msg = false;
if (bus == MAZDA_CAM) {
block_msg = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
}
return block_msg;
}
static safety_config mazda_init(uint16_t param) { static safety_config mazda_init(uint16_t param) {
static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8, true}, {MAZDA_CRZ_BTNS, 0, 8, false}, {MAZDA_LKAS_HUD, 0, 8, false}}; static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8, .check_relay = true}, {MAZDA_CRZ_BTNS, 0, 8, .check_relay = false}, {MAZDA_LKAS_HUD, 0, 8, .check_relay = true}};
static RxCheck mazda_rx_checks[] = { static RxCheck mazda_rx_checks[] = {
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}}, {.msg = {{MAZDA_CRZ_CTRL, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
@ -118,5 +107,4 @@ const safety_hooks mazda_hooks = {
.init = mazda_init, .init = mazda_init,
.rx = mazda_rx_hook, .rx = mazda_rx_hook,
.tx = mazda_tx_hook, .tx = mazda_tx_hook,
.fwd = mazda_fwd_hook,
}; };

28
opendbc_repo/opendbc/safety/safety/safety_nissan.h
Unescape View File

@ -100,29 +100,14 @@ static bool nissan_tx_hook(const CANPacket_t *to_send) {
} }
static bool nissan_fwd_hook(int bus_num, int addr) {
bool block_msg = false;
if (bus_num == 0) {
block_msg = (addr == 0x280); // CANCEL_MSG
}
if (bus_num == 2) {
// 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
}
return block_msg;
}
static safety_config nissan_init(uint16_t param) { static safety_config nissan_init(uint16_t param) {
static const CanMsg NISSAN_TX_MSGS[] = { static const CanMsg NISSAN_TX_MSGS[] = {
{0x169, 0, 8, true}, // LKAS {0x169, 0, 8, .check_relay = true}, // LKAS
{0x2b1, 0, 8, false}, // PROPILOT_HUD {0x2b1, 0, 8, .check_relay = true}, // PROPILOT_HUD
{0x4cc, 0, 8, false}, // PROPILOT_HUD_INFO_MSG {0x4cc, 0, 8, .check_relay = true}, // PROPILOT_HUD_INFO_MSG
{0x20b, 2, 6, false}, // CRUISE_THROTTLE (X-Trail) {0x20b, 2, 6, .check_relay = false}, // CRUISE_THROTTLE (X-Trail)
{0x20b, 1, 6, false}, // CRUISE_THROTTLE (Altima) {0x20b, 1, 6, .check_relay = false}, // CRUISE_THROTTLE (Altima)
{0x280, 2, 8, false} // CANCEL_MSG (Leaf) {0x280, 2, 8, .check_relay = true} // CANCEL_MSG (Leaf)
}; };
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model. // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
@ -152,5 +137,4 @@ const safety_hooks nissan_hooks = {
.init = nissan_init, .init = nissan_init,
.rx = nissan_rx_hook, .rx = nissan_rx_hook,
.tx = nissan_tx_hook, .tx = nissan_tx_hook,
.fwd = nissan_fwd_hook,
}; };

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