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 car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
The complexity of a car port varies depending on many factors including:
* existing openpilot support for similar cars
* architecture and APIs available in the car
# Structure of a car port
* `interface.py`: Interface for the car, defines the CarInterface class
* `carstate.py`: Reads CAN from car and builds openpilot CarState message
* `carcontroller.py`: Builds CAN messages to send to car
* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
* `radar_interface.py`: Interface for parsing radar points from the car
# Overiew
[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
## Serial Console
On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/serial/connect.sh` can be used to connect.
On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
## SSH
In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
* Enable SSH in your device's settings
* Enter your GitHub username in the device's settings
* Connect to your device
* Username: `comma`
* Port: `22` or `8022`
* Username: `comma`
* Port: `22`
Here's an example command for connecting to your device using its tethered connection:<br/>
`ssh comma@192.168.43.1`
For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
## Notes
### Notes
The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
#### ssh.comma.ai proxy
# Connecting to ssh.comma.ai
SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect).
With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
## Setup
With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
## Recommended .ssh/config
With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.<br/>
For example: `ssh comma-ffffffffffffffff`
With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
"casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')",# TODO: Go back to pypi casadi when they fix aarch64 for python312
"casadi; platform_machine != 'aarch64' or python_version != '3.12'",
# the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
echo"Analyzing with git-filter-repo..."
/tmp/git-filter-repo --force --analyze
echo"Pushing to openpilot-archive..."
# push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
# git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
# we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
fi
# REWRITE master and tags
if[ ! -d $SRC_CLONE];then
echo"Cloning $SRC..."
GIT_LFS_SKIP_SMUDGE=1 git clone $SRC$SRC_CLONE
cd$SRC_CLONE
echo"Checking out old history..."
git checkout tags/v0.7.1 > /dev/null 2>&1
# checkout as main, since we need master ref later
git checkout -b main
echo"Creating setup commits..."
# rm these so we don't get conflicts later
git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
# echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
echo"[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
# generate lists of files and their hashes for the old and new commits, excluding ignored files
if diff <(echo"$OLD_FILES") <(echo"$NEW_FILES") > /dev/null;then
# echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
COUNT_SAME=$((COUNT_SAME +1))
else
echo"[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
# delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
Shane Smiskol
1 year ago
