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Merge remote-tracking branch 'upstream/master' into blacklist-hkg-bad-camera-fw

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pull/28318/head
Shane Smiskol 2 years ago
parent de92b57f26 7128daebba
commit cf772317ce
171 changed files with 3155 additions and 2195 deletions
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  1. 4
      .pylintrc
  2. 4
      Jenkinsfile
  3. 5
      RELEASES.md
  4. 2
      cereal
  5. 5
      common/params.cc
  6. 3
      common/time.py
  7. 2
      common/util.cc
  8. 507
      docs/CARS.md
  9. 2
      opendbc
  10. 2
      panda
  11. 46
      poetry.lock
  12. 3
      pyproject.toml
  13. 6
      release/files_common
  14. 6
      selfdrive/assets/offroad/icon_wifi_uploading.svg
  15. 2
      selfdrive/athena/athenad.py
  16. 5
      selfdrive/boardd/boardd.cc
  17. 4
      selfdrive/boardd/panda.cc
  18. 2
      selfdrive/boardd/set_time.py
  19. 4
      selfdrive/boardd/spi.cc
  20. BIN
      selfdrive/boardd/tests/bootstub.panda.bin
  21. BIN
      selfdrive/boardd/tests/bootstub.panda_h7.bin
  22. 31
      selfdrive/boardd/tests/test_pandad.py
  23. 19
      selfdrive/car/__init__.py
  24. 36
      selfdrive/car/chrysler/values.py
  25. 8
      selfdrive/car/docs.py
  26. 197
      selfdrive/car/docs_definitions.py
  27. 31
      selfdrive/car/ford/carcontroller.py
  28. 7
      selfdrive/car/ford/carstate.py
  29. 49
      selfdrive/car/ford/fordcan.py
  30. 14
      selfdrive/car/ford/interface.py
  31. 15
      selfdrive/car/ford/radar_interface.py
  32. 42
      selfdrive/car/ford/values.py
  33. 8
      selfdrive/car/fw_query_definitions.py
  34. 69
      selfdrive/car/fw_versions.py
  35. 6
      selfdrive/car/gm/values.py
  36. 18
      selfdrive/car/honda/carstate.py
  37. 7
      selfdrive/car/honda/interface.py
  38. 9
      selfdrive/car/honda/values.py
  39. 2
      selfdrive/car/hyundai/carcontroller.py
  40. 11
      selfdrive/car/hyundai/carstate.py
  41. 35
      selfdrive/car/hyundai/hyundaican.py
  42. 59
      selfdrive/car/hyundai/hyundaicanfd.py
  43. 2
      selfdrive/car/hyundai/interface.py
  44. 78
      selfdrive/car/hyundai/tests/test_hyundai.py
  45. 210
      selfdrive/car/hyundai/values.py
  46. 17
      selfdrive/car/isotp_parallel_query.py
  47. 1
      selfdrive/car/mazda/mazdacan.py
  48. 4
      selfdrive/car/mazda/values.py
  49. 1
      selfdrive/car/nissan/carstate.py
  50. 19
      selfdrive/car/nissan/values.py
  51. 6
      selfdrive/car/subaru/carcontroller.py
  52. 5
      selfdrive/car/subaru/carstate.py
  53. 8
      selfdrive/car/subaru/subarucan.py
  54. 8
      selfdrive/car/subaru/values.py
  55. 21
      selfdrive/car/tesla/carcontroller.py
  56. 4
      selfdrive/car/tesla/teslacan.py
  57. 4
      selfdrive/car/tesla/values.py
  58. 19
      selfdrive/car/tests/test_docs.py
  59. 53
      selfdrive/car/tests/test_fw_fingerprint.py
  60. 5
      selfdrive/car/toyota/values.py
  61. 38
      selfdrive/car/volkswagen/values.py
  62. 20
      selfdrive/controls/controlsd.py
  63. 6
      selfdrive/controls/lib/events.py
  64. 120
      selfdrive/controls/lib/latcontrol_indi.py
  65. 2
      selfdrive/controls/lib/lateral_planner.py
  66. 49
      selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
  67. 20
      selfdrive/controls/lib/longitudinal_planner.py
  68. 13
      selfdrive/controls/lib/radar_helpers.py
  69. 3
      selfdrive/controls/lib/tests/test_latcontrol.py
  70. 12
      selfdrive/controls/radard.py
  71. 9
      selfdrive/debug/count_events.py
  72. 2
      selfdrive/debug/run_process_on_route.py
  73. 51
      selfdrive/locationd/calibrationd.py
  74. 2
      selfdrive/locationd/laikad.py
  75. 5
      selfdrive/locationd/locationd.cc
  76. 50
      selfdrive/locationd/test/test_calibrationd.py
  77. 2
      selfdrive/manager/manager.py
  78. 10
      selfdrive/manager/process.py
  79. 2
      selfdrive/manager/process_config.py
  80. 17
      selfdrive/modeld/modeld.cc
  81. 5
      selfdrive/modeld/models/driving.cc
  82. 9
      selfdrive/modeld/models/driving.h
  83. 4
      selfdrive/modeld/models/supercombo.onnx
  84. 28
      selfdrive/modeld/thneed/thneed_qcom2.cc
  85. 1
      selfdrive/test/helpers.py
  86. 20
      selfdrive/test/openpilotci.py
  87. 1
      selfdrive/test/process_replay/__init__.py
  88. 11
      selfdrive/test/process_replay/compare_logs.py
  89. 65
      selfdrive/test/process_replay/migration.py
  90. 30
      selfdrive/test/process_replay/model_replay.py
  91. 2
      selfdrive/test/process_replay/model_replay_ref_commit
  92. 59
      selfdrive/test/process_replay/process_replay.py
  93. 2
      selfdrive/test/process_replay/ref_commit
  94. 70
      selfdrive/test/process_replay/regen.py
  95. 9
      selfdrive/test/process_replay/test_processes.py
  96. 53
      selfdrive/test/test_onroad.py
  97. 12
      selfdrive/thermald/thermald.py
  98. 3
      selfdrive/ui/SConscript
  99. 36
      selfdrive/ui/qt/home.cc
  100. 78
      selfdrive/ui/qt/maps/map_settings.cc
  101. Some files were not shown because too many files have changed in this diff Show More

4
.pylintrc
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@ -3,7 +3,7 @@
# A comma-separated list of package or module names from where C extensions may # A comma-separated list of package or module names from where C extensions may
# be loaded. Extensions are loading into the active Python interpreter and may # be loaded. Extensions are loading into the active Python interpreter and may
# run arbitrary code # run arbitrary code
extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av,pycurl
# Add files or directories to the blacklist. They should be base names, not # Add files or directories to the blacklist. They should be base names, not
# paths. # paths.
@ -466,4 +466,4 @@ check-str-concat-over-line-jumps=yes
# Exceptions that will emit a warning when being caught. Defaults to # Exceptions that will emit a warning when being caught. Defaults to
# "Exception" # "Exception"
overgeneral-exceptions=Exception overgeneral-exceptions=

4
Jenkinsfile vendored
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@ -175,12 +175,12 @@ pipeline {
steps { steps {
phone_steps("tici-common", [ phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"], ["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "python system/hardware/tici/tests/test_power_draw.py"], ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
["test loggerd", "python system/loggerd/tests/test_loggerd.py"], ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
["test pigeond", "python system/sensord/tests/test_pigeond.py"], ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
["test manager", "python selfdrive/manager/test/test_manager.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
]) ])
} }
} }
@ -220,7 +220,7 @@ pipeline {
steps { steps {
phone_steps("tici-common", [ phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"], ["build", "cd selfdrive/manager && ./build.py"],
["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"], ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
]) ])
} }
} }

5
RELEASES.md
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@ -1,6 +1,11 @@
Version 0.9.3 (2023-06-XX) Version 0.9.3 (2023-06-XX)
======================== ========================
* New driving model * New driving model
* New driving personality setting
* Three settings: aggressive, standard, and relaxed
* Standard is recommended and the default
* In aggressive mode lead follow distance is shorter and quicker gas/brake response
* In relaxed mode lead follow distance is longer
Version 0.9.2 (2023-05-22) Version 0.9.2 (2023-05-22)
======================== ========================

2
cereal

@ -1 +1 @@
Subproject commit 9b6b53396fff6ec7541a5415901d892e57756b91 Subproject commit f319a83ab7a902477c786a25aa34077b6f640990

5
common/params.cc
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@ -104,6 +104,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DisablePowerDown", PERSISTENT}, {"DisablePowerDown", PERSISTENT},
{"ExperimentalMode", PERSISTENT}, {"ExperimentalMode", PERSISTENT},
{"ExperimentalModeConfirmed", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT},
{"LongitudinalPersonality", PERSISTENT},
{"ExperimentalLongitudinalEnabled", PERSISTENT}, {"ExperimentalLongitudinalEnabled", PERSISTENT},
{"DisableUpdates", PERSISTENT}, {"DisableUpdates", PERSISTENT},
{"DisengageOnAccelerator", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT},
@ -112,7 +113,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ForcePowerDown", CLEAR_ON_MANAGER_START}, {"ForcePowerDown", PERSISTENT},
{"GitBranch", PERSISTENT}, {"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT}, {"GitCommit", PERSISTENT},
{"GitDiff", PERSISTENT}, {"GitDiff", PERSISTENT},
@ -185,11 +186,9 @@ std::unordered_map<std::string, uint32_t> keys = {
{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
{"Version", PERSISTENT}, {"Version", PERSISTENT},
{"VisionRadarToggle", PERSISTENT}, {"VisionRadarToggle", PERSISTENT},
{"WideCameraOnly", PERSISTENT},
{"ApiCache_Device", PERSISTENT}, {"ApiCache_Device", PERSISTENT},
{"ApiCache_DriveStats", PERSISTENT}, {"ApiCache_DriveStats", PERSISTENT},
{"ApiCache_NavDestinations", PERSISTENT}, {"ApiCache_NavDestinations", PERSISTENT},
{"ApiCache_Owner", PERSISTENT},
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},

3
common/time.py
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@ -0,0 +1,3 @@
import datetime
MIN_DATE = datetime.datetime(year=2023, month=6, day=1)

2
common/util.cc
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@ -260,7 +260,7 @@ struct tm get_time() {
bool time_valid(struct tm sys_time) { bool time_valid(struct tm sys_time) {
int year = 1900 + sys_time.tm_year; int year = 1900 + sys_time.tm_year;
int month = 1 + sys_time.tm_mon; int month = 1 + sys_time.tm_mon;
return (year > 2021) || (year == 2021 && month >= 6); return (year > 2023) || (year == 2023 && month >= 6);
} }
} // namespace util } // namespace util

507
docs/CARS.md
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@ -8,258 +8,258 @@ A supported vehicle is one that just works when you install a comma three. All s
|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|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>|| |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|Acura|RDX 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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>|| |Acura|RDX 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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>|| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>|| |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>|| |Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>|| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>|| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 USB-C coupler<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-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>|| |Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 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-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 USB-C coupler<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-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>|| |Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 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-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 USB-C coupler<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-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>|| |Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 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-three.html?make=Cadillac&model=Escalade ESV 2016">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>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<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-three.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)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 USB-C coupler<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-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 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-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>|| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>|| |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">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||
|Ford|Bronco Sport 2021-22|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount<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-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>|| |Ford|Bronco Sport 2021-22|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>|| |Ford|Escape 2020-22|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Explorer 2020-22|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>|| |Ford|Explorer 2020-22|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
|Ford|Kuga 2020-22|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>|| |Ford|Kuga 2020-22|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|Ford|Maverick 2022-23|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount<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-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>|| |Ford|Maverick 2022-23|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>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>|| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|Genesis|G70 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>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>|| |Genesis|G70 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>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=G80 2018-19">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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|Genesis|G90 2017-18|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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>|| |Genesis|G90 2017-18|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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV60 (Performance 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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>|| |Genesis|GV60 (Performance 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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>|| |Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>|| |Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>|| |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 USB-C coupler<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-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 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-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" 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)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<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-three.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)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.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>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Civic 2022">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|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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|Honda|Civic Hatchback 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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Civic Hatchback 2022">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|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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">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|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=CR-V 2017-22">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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 2017-19|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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>|| |Honda|CR-V Hybrid 2017-19|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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=e 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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>|| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>|| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=HR-V 2023">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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Insight 2019-22">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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Inspire 2018">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>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Passport 2019-22">Buy Here</a></sub></details>|| |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>|| |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>|| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<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-three.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 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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 GT 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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>|| |Hyundai|Elantra GT 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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<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-three.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 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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Genesis 2015-16">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-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=i30 2017-19">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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (Southeast Asia only) 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>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>|| |Hyundai|Ioniq 5 (Southeast Asia only) 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>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<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>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>|| |Hyundai|Ioniq 5 (with HDA II) 2022-23[<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>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>|| |Hyundai|Ioniq 5 (without HDA II) 2022-23[<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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq Electric 2019">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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>|| |Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|| |Hyundai|Ioniq Hybrid 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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq 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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|| |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Kona 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>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>|| |Hyundai|Kona 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>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>|| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">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>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" 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>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" 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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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-three.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|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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 Cruz 2022-23[<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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>|| |Hyundai|Santa Cruz 2022-23[<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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 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>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Santa Fe 2019-20">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>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
|Hyundai|Santa Fe 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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Santa Fe 2021-22">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 Fe 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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">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 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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|Hyundai|Santa Fe Plug-in 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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>|| |Hyundai|Santa Fe Plug-in 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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Sonata 2018-19">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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.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|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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Sonata 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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>|| |Hyundai|Sonata 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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">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-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Tucson 2021">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-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|Hyundai|Tucson 2022[<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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>|| |Hyundai|Tucson 2022[<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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>|| |Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Tucson Diesel 2019">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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|Hyundai|Tucson 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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>|| |Hyundai|Tucson 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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">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-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Hyundai&model=Veloster 2019-20">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-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<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-three.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>| |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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>|
|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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<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-three.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>| |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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 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>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>|| |Kia|EV6 (Southeast Asia only) 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>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-23[<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>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>|| |Kia|EV6 (with HDA II) 2022-23[<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>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (without HDA II) 2022-23[<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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>|| |Kia|EV6 (without HDA II) 2022-23[<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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|Forte 2019-21|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>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>|| |Kia|Forte 2019-21|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>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|Kia|Forte 2023|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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>|| |Kia|Forte 2023|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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|Kia|K5 2021-22|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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>|| |Kia|K5 2021-22|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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|Kia|K5 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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>|| |Kia|K5 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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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-three.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 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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 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>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<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-three.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 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>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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-three.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 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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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-three.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 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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>|| |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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|Kia|Niro Hybrid 2021-22|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>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>|| |Kia|Niro Hybrid 2021-22|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>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Niro Hybrid 2023">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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Optima 2017">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>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">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>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Optima 2019-20">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>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Seltos 2021">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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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-three.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 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<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-three.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 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 2021-23[<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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>|| |Kia|Sorento 2021-23[<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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|Kia|Sorento Plug-in Hybrid 2022-23[<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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|| |Kia|Sorento Plug-in Hybrid 2022-23[<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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Kia|Sportage 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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>|| |Kia|Sportage 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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Sportage Hybrid 2023">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>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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-three.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|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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Stinger 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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>|| |Kia|Stinger 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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Kia&model=Telluride 2020-22">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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=CT Hybrid 2017-18">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=ES 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>|| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>|| |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=ES Hybrid 2019-23">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 Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">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 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=IS 2017-19">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=NX 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=NX 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=NX Hybrid 2018-19">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=NX Hybrid 2020-21">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=RC 2018-20">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=RX 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=RX 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=RX 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=RX Hybrid 2016">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=RX Hybrid 2017-19">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>|| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>|| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Lincoln&model=Aviator 2021">Buy Here</a></sub></details>|| |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<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-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<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-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<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-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>|| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">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>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<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-three.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>| |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>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<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-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>|| |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>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|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>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<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-three.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>| |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>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<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-three.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>|
|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>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<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-three.html?make=Nissan&model=Rogue 2018-20">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>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|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>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<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-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>|| |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>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<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-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>|| |Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>|| |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>|| |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>|| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>|| |Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>|| |Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>|| |Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<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-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>|| |Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<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-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>|| |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>|| |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)|| |Škoda|Fabia 2022-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)|| |Škoda|Kamiq 2021[<sup>7,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>|| |Škoda|Karoq 2019-21[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>|| |Škoda|Kodiaq 2017-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>|| |Škoda|Octavia 2015, 2018-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>|| |Škoda|Octavia RS 2016[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)|| |Škoda|Scala 2020[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>|| |Škoda|Superb 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Škoda&model=Superb 2015-22">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Alphard 2019-20">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Alphard Hybrid 2021">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Avalon 2016">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Avalon 2017-18">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Avalon 2019-21">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Avalon 2022">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Avalon Hybrid 2019-21">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Avalon Hybrid 2022">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=C-HR 2017-20">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>|| |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=C-HR Hybrid 2017-20">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>|| |Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>|| |Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>|| |Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Corolla 2017-19">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">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-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US 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-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">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-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Corolla Hybrid 2020-22">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>|| |Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Highlander 2020-23">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>|| |Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Highlander Hybrid 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>|| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 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-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>|| |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-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=RAV4 2016">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=RAV4 2017-18">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>|| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 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-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 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-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<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-three.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|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.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 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Arteon 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|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Arteon 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|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Arteon R 2020-22">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 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>|| |Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>|| |Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>|| |Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<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-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>|| |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<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-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.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|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.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|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<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-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<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-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>|| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|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>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>|| |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|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>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>|| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>|| |Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>|| |Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|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>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>|| |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<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-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>|| |Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>|| |Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)|| |Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)|| |Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)|| |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)|| |Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>|| |Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>|| |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|| |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>|| |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>|| |Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|| |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>|| |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<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-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
### Footnotes ### Footnotes
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br /> <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
@ -270,8 +270,9 @@ A supported vehicle is one that just works when you install a comma three. All s
<sup>6</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>6</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>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br /> <sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br /> <sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>9</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>9</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
<sup>10</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>10</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>11</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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@ -1 +1 @@
Subproject commit 8faada0494c4498a57c2196e80c6da94f508d009 Subproject commit 49b31858a36275dc16f768781297e443e57d16ab

2
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@ -1 +1 @@
Subproject commit 00c26894876484d2c5a5b63a1c33c28f0f9b15dd Subproject commit b56340590485bba2428538259e020f176127458c

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Unescape View File

@ -188,15 +188,15 @@ tests = ["pytest"]
[[package]] [[package]]
name = "astroid" name = "astroid"
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description = "An abstract syntax tree for Python with inference support." description = "An abstract syntax tree for Python with inference support."
category = "main" category = "dev"
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python-versions = ">=3.7.2" python-versions = ">=3.7.2"
[package.dependencies] [package.dependencies]
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[[package]] [[package]]
@ -837,7 +837,7 @@ tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytes
name = "dill" name = "dill"
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description = "serialize all of python" description = "serialize all of python"
category = "main" category = "dev"
optional = false optional = false
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*" python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*"
@ -1631,7 +1631,7 @@ six = "*"
name = "isort" name = "isort"
version = "5.10.1" version = "5.10.1"
description = "A Python utility / library to sort Python imports." description = "A Python utility / library to sort Python imports."
category = "main" category = "dev"
optional = false optional = false
python-versions = ">=3.6.1,<4.0" python-versions = ">=3.6.1,<4.0"
@ -1982,7 +1982,7 @@ tabulate = "*"
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version = "1.7.1" version = "1.7.1"
description = "A fast and thorough lazy object proxy." description = "A fast and thorough lazy object proxy."
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python-versions = ">=3.6" python-versions = ">=3.6"
@ -3253,16 +3253,16 @@ python-versions = "*"
[[package]] [[package]]
name = "pylint" name = "pylint"
version = "2.15.4" version = "2.17.4"
description = "python code static checker" description = "python code static checker"
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colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""} colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
dill = ">=0.2" dill = {version = ">=0.2", markers = "python_version < \"3.11\""}
isort = ">=4.2.5,<6" isort = ">=4.2.5,<6"
mccabe = ">=0.6,<0.8" mccabe = ">=0.6,<0.8"
platformdirs = ">=2.2.0" platformdirs = ">=2.2.0"
@ -4403,7 +4403,7 @@ python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
name = "tomli" name = "tomli"
version = "2.0.1" version = "2.0.1"
description = "A lil' TOML parser" description = "A lil' TOML parser"
category = "main" category = "dev"
optional = false optional = false
python-versions = ">=3.7" python-versions = ">=3.7"
@ -4565,6 +4565,14 @@ category = "dev"
optional = false optional = false
python-versions = "*" python-versions = "*"
[[package]]
name = "types-python-dateutil"
version = "2.8.19.13"
description = "Typing stubs for python-dateutil"
category = "dev"
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python-versions = "*"
[[package]] [[package]]
name = "types-pyyaml" name = "types-pyyaml"
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@ -4709,7 +4717,7 @@ python-versions = ">=3.7"
name = "wrapt" name = "wrapt"
version = "1.14.1" version = "1.14.1"
description = "Module for decorators, wrappers and monkey patching." description = "Module for decorators, wrappers and monkey patching."
category = "main" category = "dev"
optional = false optional = false
python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7" python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
@ -4804,7 +4812,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
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[metadata.files] [metadata.files]
adal = [ adal = [
@ -4969,8 +4977,8 @@ argon2-cffi-bindings = [
{file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:5e00316dabdaea0b2dd82d141cc66889ced0cdcbfa599e8b471cf22c620c329a"}, {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:5e00316dabdaea0b2dd82d141cc66889ced0cdcbfa599e8b471cf22c620c329a"},
] ]
astroid = [ astroid = [
{file = "astroid-2.12.12-py3-none-any.whl", hash = "sha256:72702205200b2a638358369d90c222d74ebc376787af8fb2f7f2a86f7b5cc85f"}, {file = "astroid-2.15.5-py3-none-any.whl", hash = "sha256:078e5212f9885fa85fbb0cf0101978a336190aadea6e13305409d099f71b2324"},
{file = "astroid-2.12.12.tar.gz", hash = "sha256:1c00a14f5a3ed0339d38d2e2e5b74ea2591df5861c0936bb292b84ccf3a78d83"}, {file = "astroid-2.15.5.tar.gz", hash = "sha256:1039262575027b441137ab4a62a793a9b43defb42c32d5670f38686207cd780f"},
] ]
asttokens = [ asttokens = [
{file = "asttokens-2.0.8-py2.py3-none-any.whl", hash = "sha256:e3305297c744ae53ffa032c45dc347286165e4ffce6875dc662b205db0623d86"}, {file = "asttokens-2.0.8-py2.py3-none-any.whl", hash = "sha256:e3305297c744ae53ffa032c45dc347286165e4ffce6875dc662b205db0623d86"},
@ -7569,8 +7577,8 @@ pylev = [
{file = "pylev-1.4.0.tar.gz", hash = "sha256:9e77e941042ad3a4cc305dcdf2b2dec1aec2fbe3dd9015d2698ad02b173006d1"}, {file = "pylev-1.4.0.tar.gz", hash = "sha256:9e77e941042ad3a4cc305dcdf2b2dec1aec2fbe3dd9015d2698ad02b173006d1"},
] ]
pylint = [ pylint = [
{file = "pylint-2.15.4-py3-none-any.whl", hash = "sha256:629cf1dbdfb6609d7e7a45815a8bb59300e34aa35783b5ac563acaca2c4022e9"}, {file = "pylint-2.17.4-py3-none-any.whl", hash = "sha256:7a1145fb08c251bdb5cca11739722ce64a63db479283d10ce718b2460e54123c"},
{file = "pylint-2.15.4.tar.gz", hash = "sha256:5441e9294335d354b7bad57c1044e5bd7cce25c433475d76b440e53452fa5cb8"}, {file = "pylint-2.17.4.tar.gz", hash = "sha256:5dcf1d9e19f41f38e4e85d10f511e5b9c35e1aa74251bf95cdd8cb23584e2db1"},
] ]
pymsalruntime = [ pymsalruntime = [
{file = "pymsalruntime-0.11.2-cp310-cp310-win32.whl", hash = "sha256:a45e35c9fa58c196029bb9f5b8bedd313b2a8ac971d576c57c31cb06139de247"}, {file = "pymsalruntime-0.11.2-cp310-cp310-win32.whl", hash = "sha256:a45e35c9fa58c196029bb9f5b8bedd313b2a8ac971d576c57c31cb06139de247"},
@ -8597,6 +8605,10 @@ types-pycurl = [
{file = "types-pycurl-7.45.1.tar.gz", hash = "sha256:82e00aa2981595bfa55e5a3bac42221eb3435b0026dffbe1177f6ac9f2d51200"}, {file = "types-pycurl-7.45.1.tar.gz", hash = "sha256:82e00aa2981595bfa55e5a3bac42221eb3435b0026dffbe1177f6ac9f2d51200"},
{file = "types_pycurl-7.45.1-py3-none-any.whl", hash = "sha256:9eab3414da4a1b1e9a628bd288fc5172b8c182e1d9fb6d8d082441b0fd64baed"}, {file = "types_pycurl-7.45.1-py3-none-any.whl", hash = "sha256:9eab3414da4a1b1e9a628bd288fc5172b8c182e1d9fb6d8d082441b0fd64baed"},
] ]
types-python-dateutil = [
{file = "types-python-dateutil-2.8.19.13.tar.gz", hash = "sha256:09a0275f95ee31ce68196710ed2c3d1b9dc42e0b61cc43acc369a42cb939134f"},
{file = "types_python_dateutil-2.8.19.13-py3-none-any.whl", hash = "sha256:0b0e7c68e7043b0354b26a1e0225cb1baea7abb1b324d02b50e2d08f1221043f"},
]
types-pyyaml = [ types-pyyaml = [
{file = "types-PyYAML-6.0.12.tar.gz", hash = "sha256:f6f350418125872f3f0409d96a62a5a5ceb45231af5cc07ee0034ec48a3c82fa"}, {file = "types-PyYAML-6.0.12.tar.gz", hash = "sha256:f6f350418125872f3f0409d96a62a5a5ceb45231af5cc07ee0034ec48a3c82fa"},
{file = "types_PyYAML-6.0.12-py3-none-any.whl", hash = "sha256:29228db9f82df4f1b7febee06bbfb601677882e98a3da98132e31c6874163e15"}, {file = "types_PyYAML-6.0.12-py3-none-any.whl", hash = "sha256:29228db9f82df4f1b7febee06bbfb601677882e98a3da98132e31c6874163e15"},

3
pyproject.toml
Unescape View File

@ -37,7 +37,6 @@ psutil = "^5.9.1"
pycapnp = "==1.1.0" pycapnp = "==1.1.0"
pycryptodome = "^3.15.0" pycryptodome = "^3.15.0"
PyJWT = "^2.5.0" PyJWT = "^2.5.0"
pylint = "^2.15.4"
pyopencl = "^2022.2.4" pyopencl = "^2022.2.4"
pyserial = "^3.5" pyserial = "^3.5"
python-dateutil = "^2.8.2" python-dateutil = "^2.8.2"
@ -92,6 +91,7 @@ pprofile = "^2.1.0"
pre-commit = "^2.19.0" pre-commit = "^2.19.0"
pycurl = "^7.45.1" pycurl = "^7.45.1"
pygame = "^2.1.2" pygame = "^2.1.2"
pylint = "^2.17.4"
pyprof2calltree = "^1.4.5" pyprof2calltree = "^1.4.5"
pytest = "^7.1.2" pytest = "^7.1.2"
pytest-xdist = "^2.5.0" pytest-xdist = "^2.5.0"
@ -106,6 +106,7 @@ tenacity = "^8.0.1"
types-atomicwrites = "^1.4.5" types-atomicwrites = "^1.4.5"
types-certifi = "^2021.10.8" types-certifi = "^2021.10.8"
types-pycurl = "^7.45.1" types-pycurl = "^7.45.1"
types-python-dateutil = "^2.8.19.13"
types-PyYAML = "^6.0" types-PyYAML = "^6.0"
types-requests = "^2.28.11" types-requests = "^2.28.11"
types-tabulate = "^0.8.10" types-tabulate = "^0.8.10"

6
release/files_common
Unescape View File

@ -35,6 +35,7 @@ common/filter_simple.py
common/stat_live.py common/stat_live.py
common/spinner.py common/spinner.py
common/text_window.py common/text_window.py
common/time.py
common/kalman/.gitignore common/kalman/.gitignore
common/kalman/* common/kalman/*
@ -181,7 +182,6 @@ selfdrive/controls/lib/desire_helper.py
selfdrive/controls/lib/drive_helpers.py selfdrive/controls/lib/drive_helpers.py
selfdrive/controls/lib/events.py selfdrive/controls/lib/events.py
selfdrive/controls/lib/latcontrol_angle.py selfdrive/controls/lib/latcontrol_angle.py
selfdrive/controls/lib/latcontrol_indi.py
selfdrive/controls/lib/latcontrol_torque.py selfdrive/controls/lib/latcontrol_torque.py
selfdrive/controls/lib/latcontrol_pid.py selfdrive/controls/lib/latcontrol_pid.py
selfdrive/controls/lib/latcontrol.py selfdrive/controls/lib/latcontrol.py
@ -565,8 +565,8 @@ opendbc/hyundai_kia_mando_front_radar_generated.dbc
opendbc/mazda_2017.dbc opendbc/mazda_2017.dbc
opendbc/nissan_x_trail_2017.dbc opendbc/nissan_x_trail_2017_generated.dbc
opendbc/nissan_leaf_2018.dbc opendbc/nissan_leaf_2018_generated.dbc
opendbc/subaru_global_2017_generated.dbc opendbc/subaru_global_2017_generated.dbc
opendbc/subaru_outback_2015_generated.dbc opendbc/subaru_outback_2015_generated.dbc

6
selfdrive/assets/offroad/icon_wifi_uploading.svg
Unescape View File

@ -0,0 +1,6 @@
<svg width="68" height="68" viewBox="0 0 68 68" fill="none" xmlns="http://www.w3.org/2000/svg">
<path d="M34.0004 8.63599C21.8284 8.63599 10.7444 13.26 2.31243 20.808C1.56443 21.488 1.4964 22.644 2.1084 23.392L4.76041 26.452C5.44041 27.2 6.59641 27.268 7.34441 26.588C14.4164 20.196 23.7324 16.32 33.9324 16.32C44.1324 16.32 53.4484 20.196 60.5204 26.588C61.2684 27.268 62.4244 27.2 63.1044 26.452L65.7564 23.392C66.4364 22.644 66.3004 21.488 65.5524 20.808C57.2564 13.26 46.1724 8.63599 34.0004 8.63599Z" fill="#465BEA"/>
<path d="M34.0004 22.032C25.1604 22.032 17.0684 25.432 11.0164 30.94C10.2684 31.62 10.2004 32.708 10.8804 33.456L13.3964 36.38C14.0764 37.196 15.2324 37.196 16.0484 36.516C20.8084 32.164 27.1324 29.512 34.0684 29.512C41.0044 29.512 47.3284 32.164 52.0884 36.516C52.8364 37.196 54.0604 37.196 54.7404 36.38L57.2564 33.456C57.8684 32.708 57.8684 31.552 57.1204 30.94C50.9324 25.364 42.8404 22.032 34.0004 22.032Z" fill="#465BEA"/>
<path d="M34.0007 35.36C28.4247 35.36 23.3927 37.536 19.6527 41.14C18.9727 41.82 18.9047 42.908 19.5847 43.656L21.9647 46.444C22.6447 47.26 23.8687 47.26 24.6167 46.58C27.0647 44.2 30.3287 42.772 34.0007 42.772C37.6727 42.772 40.9367 44.2 43.3847 46.58C44.1327 47.328 45.3567 47.26 46.0367 46.444L48.4167 43.656C49.0287 42.908 49.0287 41.82 48.3487 41.14C44.6087 37.536 39.5767 35.36 34.0007 35.36Z" fill="#465BEA"/>
<path d="M34.0005 48.688C31.7565 48.688 29.7165 49.708 28.3565 51.34C27.7445 52.02 27.7445 53.04 28.3565 53.72L32.6405 58.684C33.3885 59.5 34.6804 59.5 35.4284 58.684L39.7125 53.72C40.3245 53.04 40.3245 52.02 39.7125 51.34C38.2845 49.708 36.2445 48.688 34.0005 48.688Z" fill="#465BEA"/>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 1.6 KiB

2
selfdrive/athena/athenad.py
Unescape View File

@ -171,7 +171,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None:
try: try:
data = recv_queue.get(timeout=1) data = recv_queue.get(timeout=1)
if "method" in data: if "method" in data:
cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}") cloudlog.event("athena.jsonrpc_handler.call_method", data=data)
response = JSONRPCResponseManager.handle(data, dispatcher) response = JSONRPCResponseManager.handle(data, dispatcher)
send_queue.put_nowait(response.json) send_queue.put_nowait(response.json)
elif "id" in data and ("result" in data or "error" in data): elif "id" in data and ("result" in data or "error" in data):

5
selfdrive/boardd/boardd.cc
Unescape View File

@ -94,11 +94,12 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
} }
} }
} else if (dir == SyncTimeDir::FROM_PANDA) { } else if (dir == SyncTimeDir::FROM_PANDA) {
LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) { if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
const struct timeval tv = {mktime(&rtc_time), 0}; const struct timeval tv = {mktime(&rtc_time), 0};
settimeofday(&tv, 0); settimeofday(&tv, 0);
LOGE("System time wrong, setting from RTC. System: %s RTC: %s", LOGE("System time wrong, setting from RTC.");
get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
} }
} }
} }

4
selfdrive/boardd/panda.cc
Unescape View File

@ -13,11 +13,11 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
// try USB first, then SPI // try USB first, then SPI
try { try {
handle = std::make_unique<PandaUsbHandle>(serial); handle = std::make_unique<PandaUsbHandle>(serial);
LOGW("conntected to %s over USB", serial.c_str()); LOGW("connected to %s over USB", serial.c_str());
} catch (std::exception &e) { } catch (std::exception &e) {
#ifndef __APPLE__ #ifndef __APPLE__
handle = std::make_unique<PandaSpiHandle>(serial); handle = std::make_unique<PandaSpiHandle>(serial);
LOGW("conntected to %s over SPI", serial.c_str()); LOGW("connected to %s over SPI", serial.c_str());
#endif #endif
} }

2
selfdrive/boardd/set_time.py
Unescape View File

@ -3,7 +3,7 @@ import os
import datetime import datetime
from panda import Panda from panda import Panda
MIN_DATE = datetime.datetime(year=2023, month=4, day=1) from common.time import MIN_DATE
def set_time(logger): def set_time(logger):
sys_time = datetime.datetime.today() sys_time = datetime.datetime.today()

4
selfdrive/boardd/spi.cc
Unescape View File

@ -68,6 +68,10 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
// revs of the comma three may not support this speed // revs of the comma three may not support this speed
uint32_t spi_speed = 50000000; uint32_t spi_speed = 50000000;
if (!util::file_exists(SPI_DEVICE)) {
goto fail;
}
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) { if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd); LOGE("failed opening SPI device %d", spi_fd);

BIN
selfdrive/boardd/tests/bootstub.panda.bin
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BIN
selfdrive/boardd/tests/bootstub.panda_h7.bin
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31
selfdrive/boardd/tests/test_pandad.py
Unescape View File

@ -1,16 +1,19 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os
import time import time
import unittest import unittest
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal import log from cereal import log
from common.gpio import gpio_set, gpio_init from common.gpio import gpio_set, gpio_init
from panda import Panda from panda import Panda, PandaDFU
from selfdrive.test.helpers import phone_only from selfdrive.test.helpers import phone_only
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
from system.hardware import HARDWARE from system.hardware import HARDWARE
from system.hardware.tici.pins import GPIO from system.hardware.tici.pins import GPIO
HERE = os.path.dirname(os.path.realpath(__file__))
class TestPandad(unittest.TestCase): class TestPandad(unittest.TestCase):
@ -27,11 +30,13 @@ class TestPandad(unittest.TestCase):
if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown: if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
raise Exception("boardd failed to start") raise Exception("boardd failed to start")
def _go_to_dfu(self):
HARDWARE.recover_internal_panda()
assert Panda.wait_for_dfu(None, 10)
@phone_only @phone_only
def test_in_dfu(self): def test_in_dfu(self):
HARDWARE.recover_internal_panda() HARDWARE.recover_internal_panda()
time.sleep(1)
managed_processes['pandad'].start() managed_processes['pandad'].start()
self._wait_for_boardd(60) self._wait_for_boardd(60)
@ -66,9 +71,25 @@ class TestPandad(unittest.TestCase):
managed_processes['pandad'].start() managed_processes['pandad'].start()
self._wait_for_boardd(8) self._wait_for_boardd(8)
@phone_only
def test_release_to_devel_bootstub(self):
if HARDWARE.get_device_type() != 'tici':
self.skipTest("TODO: fix reset timeout")
# flash release bootstub
self._go_to_dfu()
pd = PandaDFU(None)
fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
with open(fn, "rb") as f:
pd.program_bootstub(f.read())
pd.reset()
assert Panda.wait_for_panda(None, 20)
with Panda() as p:
assert p.bootstub
#def test_out_of_date_fw(self): managed_processes['pandad'].start()
# pass self._wait_for_boardd(60)
if __name__ == "__main__": if __name__ == "__main__":

19
selfdrive/car/__init__.py
Unescape View File

@ -1,10 +1,13 @@
# functions common among cars # functions common among cars
import capnp import math
from collections import namedtuple from collections import namedtuple
from typing import Dict, Optional
import capnp
from cereal import car from cereal import car
from common.numpy_fast import clip, interp from common.numpy_fast import clip, interp
from typing import Dict
# kg of standard extra cargo to count for drive, gas, etc... # kg of standard extra cargo to count for drive, gas, etc...
STD_CARGO_KG = 136. STD_CARGO_KG = 136.
@ -175,3 +178,15 @@ def get_safety_config(safety_model, safety_param = None):
if safety_param is not None: if safety_param is not None:
ret.safetyParam = safety_param ret.safetyParam = safety_param
return ret return ret
class CanBusBase:
offset: int
def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
if CP is None:
assert fingerprint is not None
num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
else:
num = len(CP.safetyConfigs)
self.offset = 4 * (num - 1)

36
selfdrive/car/chrysler/values.py
Unescape View File

@ -5,7 +5,7 @@ from typing import Dict, List, Optional, Union
from cereal import car from cereal import car
from panda.python import uds from panda.python import uds
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -60,7 +60,7 @@ RAM_CARS = RAM_DT | RAM_HD
@dataclass @dataclass
class ChryslerCarInfo(CarInfo): class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)" package: str = "Adaptive Cruise Control (ACC)"
car_parts: CarParts = CarParts.common([CarPart.fca]) car_parts: CarParts = CarParts.common([CarHarness.fca])
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
@ -74,10 +74,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
], ],
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarPart.ram])), CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
CAR.RAM_HD: [ CAR.RAM_HD: [
ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarPart.ram])), ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarPart.ram])), ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
], ],
} }
@ -224,9 +224,11 @@ FW_VERSIONS = {
b'68453511AC', b'68453511AC',
b'68453513AD', b'68453513AD',
b'68453514AD', b'68453514AD',
b'68510280AG',
b'68510283AG', b'68510283AG',
b'68527375AD',
b'68527346AE', b'68527346AE',
b'68527375AD',
b'68527382AE',
], ],
(Ecu.srs, 0x744, None): [ (Ecu.srs, 0x744, None): [
b'68428609AB', b'68428609AB',
@ -235,6 +237,7 @@ FW_VERSIONS = {
b'68490898AA', b'68490898AA',
b'68500728AA', b'68500728AA',
b'68615033AA', b'68615033AA',
b'68615034AA',
], ],
(Ecu.abs, 0x747, None): [ (Ecu.abs, 0x747, None): [
b'68292406AH', b'68292406AH',
@ -248,12 +251,13 @@ FW_VERSIONS = {
b'68438456AF', b'68438456AF',
b'68535469AB', b'68535469AB',
b'68535470AC', b'68535470AC',
b'68586307AB',
b'68548900AB', b'68548900AB',
b'68586307AB',
], ],
(Ecu.fwdRadar, 0x753, None): [ (Ecu.fwdRadar, 0x753, None): [
b'04672892AB', b'04672892AB',
b'04672932AB', b'04672932AB',
b'22DTRHD_AA',
b'68320950AH', b'68320950AH',
b'68320950AI', b'68320950AI',
b'68320950AJ', b'68320950AJ',
@ -265,8 +269,10 @@ FW_VERSIONS = {
b'68475160AG', b'68475160AG',
], ],
(Ecu.eps, 0x75A, None): [ (Ecu.eps, 0x75A, None): [
b'21590101AA',
b'68273275AF', b'68273275AF',
b'68273275AG', b'68273275AG',
b'68273275AH',
b'68312176AE', b'68312176AE',
b'68312176AG', b'68312176AG',
b'68440789AC', b'68440789AC',
@ -275,23 +281,28 @@ FW_VERSIONS = {
b'68522583AB', b'68522583AB',
b'68522585AB', b'68522585AB',
b'68552788AA', b'68552788AA',
b'68552789AA',
b'68552790AA', b'68552790AA',
b'68585109AB',
b'68585112AB', b'68585112AB',
b'68552789AA',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'05036065AE ', b'05036065AE ',
b'05036066AE ', b'05036066AE ',
b'05149591AD ',
b'05149846AA ',
b'05149848AA ',
b'68378701AI ', b'68378701AI ',
b'68378748AL ',
b'68378758AM ', b'68378758AM ',
b'68448163AJ', b'68448163AJ',
b'68448165AK', b'68448165AK',
b'68500630AD', b'68500630AD',
b'68500630AE', b'68500630AE',
b'68539650AD', b'68539650AD',
b'05149846AA ',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'05149536AC',
b'68360078AL', b'68360078AL',
b'68360080AM', b'68360080AM',
b'68360081AM', b'68360081AM',
@ -301,8 +312,8 @@ FW_VERSIONS = {
b'68445533AB', b'68445533AB',
b'68484467AC', b'68484467AC',
b'68502994AD', b'68502994AD',
b'68540431AB',
b'68520867AE', b'68520867AE',
b'68540431AB',
], ],
}, },
@ -314,6 +325,7 @@ FW_VERSIONS = {
b'68525485AB', b'68525485AB',
b'68525487AB', b'68525487AB',
b'68525498AB', b'68525498AB',
b'68528791AF',
], ],
(Ecu.srs, 0x744, None): [ (Ecu.srs, 0x744, None): [
b'68399794AC', b'68399794AC',
@ -329,9 +341,11 @@ FW_VERSIONS = {
b'68504022AC', b'68504022AC',
b'68530686AB', b'68530686AB',
b'68530686AC', b'68530686AC',
b'68544596AC',
], ],
(Ecu.fwdRadar, 0x753, None): [ (Ecu.fwdRadar, 0x753, None): [
b'04672895AB', b'04672895AB',
b'04672934AB',
b'56029827AG', b'56029827AG',
b'56029827AH', b'56029827AH',
b'68462657AE', b'68462657AE',
@ -341,6 +355,7 @@ FW_VERSIONS = {
(Ecu.eps, 0x761, None): [ (Ecu.eps, 0x761, None): [
b'68421036AC', b'68421036AC',
b'68507906AB', b'68507906AB',
b'68534023AC',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'52370131AF', b'52370131AF',
@ -349,6 +364,7 @@ FW_VERSIONS = {
b'52370931CT', b'52370931CT',
b'52401032AE', b'52401032AE',
b'52421132AF', b'52421132AF',
b'52421332AF',
b'68527616AD ', b'68527616AD ',
b'M2370131MB', b'M2370131MB',
b'M2421132MB', b'M2421132MB',

8
selfdrive/car/docs.py
Unescape View File

@ -10,7 +10,7 @@ from typing import Dict, List
from cereal import car from cereal import car
from common.basedir import BASEDIR from common.basedir import BASEDIR
from selfdrive.car import gen_empty_fingerprint from selfdrive.car import gen_empty_fingerprint
from selfdrive.car.docs_definitions import CarInfo, CarPart, Column, CommonFootnote, PartType from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.car_helpers import interfaces, get_interface_attr
@ -61,9 +61,9 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
footnotes = [fn.value.text for fn in get_all_footnotes()] footnotes = [fn.value.text for fn in get_all_footnotes()]
cars_md: str = template.render(all_car_info=all_car_info, CarPart=CarPart, cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
PartType=PartType, group_by_make=group_by_make, group_by_make=group_by_make, footnotes=footnotes,
footnotes=footnotes, Column=Column) Column=Column)
return cars_md return cars_md

197
selfdrive/car/docs_definitions.py
Unescape View File

@ -30,120 +30,131 @@ class Star(Enum):
EMPTY = "empty" EMPTY = "empty"
class PartType(Enum): # A part + its comprised parts
connector = "Connector"
device = "Device"
cable = "Cable"
accessory = "Accessory"
mount = "Mount"
@dataclass @dataclass
class Part: class BasePart:
name: str name: str
parts: List[Enum] = field(default_factory=list)
@property def all_parts(self):
def type(self) -> PartType: # Recursively get all parts
raise NotImplementedError _parts = 'parts'
parts = []
parts.extend(getattr(self, _parts))
for part in getattr(self, _parts):
parts.extend(part.value.all_parts())
return parts
class Connector(Part):
class EnumBase(Enum):
@property @property
def type(self) -> PartType: def type(self):
return PartType.connector return PartType(self.__class__)
class Accessory(Part): class Mount(EnumBase):
@property mount = BasePart("mount")
def type(self) -> PartType: angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
return PartType.accessory
class Mount(Part): class Cable(EnumBase):
@property rj45_cable_7ft = BasePart("RJ45 cable (7 ft)")
def type(self) -> PartType: long_obdc_cable = BasePart("long OBD-C cable")
return PartType.mount usb_a_2_a_cable = BasePart("USB A-A cable")
usbc_otg_cable = BasePart("USB C OTG cable")
usbc_coupler = BasePart("USB-C coupler")
obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
class Cable(Part): class Accessory(EnumBase):
@property harness_box = BasePart("harness box")
def type(self) -> PartType: comma_power_v2 = BasePart("comma power v2")
return PartType.cable
class Device(Part): @dataclass
@property class BaseCarHarness(BasePart):
def type(self) -> PartType: parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
return PartType.device has_connector: bool = True # without are hidden on the harness connector page
class CarPart(Enum): class CarHarness(EnumBase):
nidec = Connector("Honda Nidec connector") nidec = BaseCarHarness("Honda Nidec connector")
bosch_a = Connector("Honda Bosch A connector") bosch_a = BaseCarHarness("Honda Bosch A connector")
bosch_b = Connector("Honda Bosch B connector") bosch_b = BaseCarHarness("Honda Bosch B connector")
toyota = Connector("Toyota connector") toyota = BaseCarHarness("Toyota connector")
subaru_a = Connector("Subaru A connector") subaru_a = BaseCarHarness("Subaru A connector")
subaru_b = Connector("Subaru B connector") subaru_b = BaseCarHarness("Subaru B connector")
fca = Connector("FCA connector") fca = BaseCarHarness("FCA connector")
ram = Connector("Ram connector") ram = BaseCarHarness("Ram connector")
vw = Connector("VW connector") vw = BaseCarHarness("VW connector")
j533 = Connector("J533 connector") j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
hyundai_a = Connector("Hyundai A connector") hyundai_a = BaseCarHarness("Hyundai A connector")
hyundai_b = Connector("Hyundai B connector") hyundai_b = BaseCarHarness("Hyundai B connector")
hyundai_c = Connector("Hyundai C connector") hyundai_c = BaseCarHarness("Hyundai C connector")
hyundai_d = Connector("Hyundai D connector") hyundai_d = BaseCarHarness("Hyundai D connector")
hyundai_e = Connector("Hyundai E connector") hyundai_e = BaseCarHarness("Hyundai E connector")
hyundai_f = Connector("Hyundai F connector") hyundai_f = BaseCarHarness("Hyundai F connector")
hyundai_g = Connector("Hyundai G connector") hyundai_g = BaseCarHarness("Hyundai G connector")
hyundai_h = Connector("Hyundai H connector") hyundai_h = BaseCarHarness("Hyundai H connector")
hyundai_i = Connector("Hyundai I connector") hyundai_i = BaseCarHarness("Hyundai I connector")
hyundai_j = Connector("Hyundai J connector") hyundai_j = BaseCarHarness("Hyundai J connector")
hyundai_k = Connector("Hyundai K connector") hyundai_k = BaseCarHarness("Hyundai K connector")
hyundai_l = Connector("Hyundai L connector") hyundai_l = BaseCarHarness("Hyundai L connector")
hyundai_m = Connector("Hyundai M connector") hyundai_m = BaseCarHarness("Hyundai M connector")
hyundai_n = Connector("Hyundai N connector") hyundai_n = BaseCarHarness("Hyundai N connector")
hyundai_o = Connector("Hyundai O connector") hyundai_o = BaseCarHarness("Hyundai O connector")
hyundai_p = Connector("Hyundai P connector") hyundai_p = BaseCarHarness("Hyundai P connector")
hyundai_q = Connector("Hyundai Q connector") hyundai_q = BaseCarHarness("Hyundai Q connector")
custom = Connector("Developer connector") custom = BaseCarHarness("Developer connector")
obd_ii = Connector("OBD-II connector") obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
gm = Connector("GM connector") gm = BaseCarHarness("GM connector")
nissan_a = Connector("Nissan A connector") nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
nissan_b = Connector("Nissan B connector") nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
mazda = Connector("Mazda connector") mazda = BaseCarHarness("Mazda connector")
ford_q3 = Connector("Ford Q3 connector") ford_q3 = BaseCarHarness("Ford Q3 connector")
ford_q4 = Connector("Ford Q4 connector") ford_q4 = BaseCarHarness("Ford Q4 connector")
comma_3 = Device("comma 3")
red_panda = Device("red panda") class Device(EnumBase):
three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
harness_box = Accessory("harness box") # variant of comma three with angled mounts
comma_power_v2 = Accessory("comma power v2") three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
red_panda = BasePart("red panda")
mount = Mount("mount")
angled_mount = Mount("angled mount")
class Kit(EnumBase):
rj45_cable_7ft = Cable("RJ45 cable (7 ft)") red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
long_obdc_cable = Cable("long OBD-C cable")
usb_a_2_a_cable = Cable("USB A-A cable")
usbc_otg_cable = Cable("USB C OTG cable") class PartType(Enum):
usbc_coupler = Cable("USB-C coupler") accessory = Accessory
obd_c_cable_1_5ft = Cable("OBD-C cable (1.5 ft)") cable = Cable
right_angle_obd_c_cable_1_5ft = Cable("right angle OBD-C cable (1.5 ft)") connector = CarHarness
device = Device
kit = Kit
DEFAULT_CAR_PARTS: List[CarPart] = [CarPart.harness_box, CarPart.comma_power_v2, CarPart.rj45_cable_7ft, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft] mount = Mount
DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
@dataclass @dataclass
class CarParts: class CarParts:
parts: List[CarPart] = field(default_factory=list) parts: List[EnumBase] = field(default_factory=list)
@classmethod @classmethod
def common(cls, add: List[CarPart] = None, remove: List[CarPart] = None): def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None):
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])] p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
return cls(p) return cls(p)
def all_parts(self):
parts = []
for part in self.parts:
parts.extend(part.value.all_parts())
return self.parts + parts
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False)) CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
@ -251,8 +262,8 @@ class CarInfo:
if self.car_parts.parts: if self.car_parts.parts:
model_years = self.model + (' ' + self.years if self.years else '') model_years = self.model + (' ' + self.years if self.years else '')
buy_link = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">Buy Here</a>' buy_link = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">Buy Here</a>'
parts = '<br>'.join([f"- {self.car_parts.parts.count(part)} {part.value.name}" for part in car_parts_docs = self.car_parts.all_parts()
sorted(set(self.car_parts.parts), key=lambda part: str(part.value.name))]) parts = '<br>'.join([f"- {car_parts_docs.count(part)} {part.value.name}" for part in sorted(set(car_parts_docs), key=lambda part: str(part.value.name))])
hardware_col = f'<details><summary>View</summary><sub>{parts}<br>{buy_link}</sub></details>' hardware_col = f'<details><summary>View</summary><sub>{parts}<br>{buy_link}</sub></details>'
self.row: Dict[Enum, Union[str, Star]] = { self.row: Dict[Enum, Union[str, Star]] = {

31
selfdrive/car/ford/carcontroller.py
Unescape View File

@ -2,9 +2,9 @@ from cereal import car
from common.numpy_fast import clip from common.numpy_fast import clip
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_angle_limits from selfdrive.car import apply_std_steer_angle_limits
from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams from selfdrive.car.ford.values import CANFD_CARS, CarControllerParams
LongCtrlState = car.CarControl.Actuators.LongControlState LongCtrlState = car.CarControl.Actuators.LongControlState
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -27,6 +27,7 @@ class CarController:
self.CP = CP self.CP = CP
self.VM = VM self.VM = VM
self.packer = CANPacker(dbc_name) self.packer = CANPacker(dbc_name)
self.CAN = CanBus(CP)
self.frame = 0 self.frame = 0
self.apply_curvature_last = 0 self.apply_curvature_last = 0
@ -45,15 +46,15 @@ class CarController:
### acc buttons ### ### acc buttons ###
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True)) can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True)) can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
# if stock lane centering isn't off, send a button press to toggle it off # if stock lane centering isn't off, send a button press to toggle it off
# the stock system checks for steering pressed, and eventually disengages cruise control # the stock system checks for steering pressed, and eventually disengages cruise control
elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
### lateral control ### ### lateral control ###
# send steer msg at 20Hz # send steer msg at 20Hz
@ -70,14 +71,14 @@ class CarController:
if self.CP.carFingerprint in CANFD_CARS: if self.CP.carFingerprint in CANFD_CARS:
# TODO: extended mode # TODO: extended mode
mode = 1 if CC.latActive else 0 mode = 1 if CC.latActive else 0
counter = self.frame // CarControllerParams.STEER_STEP counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter)) can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
else: else:
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
# send lka msg at 33Hz # send lka msg at 33Hz
if (self.frame % CarControllerParams.LKA_STEP) == 0: if (self.frame % CarControllerParams.LKA_STEP) == 0:
can_sends.append(create_lka_msg(self.packer)) can_sends.append(create_lka_msg(self.packer, self.CAN))
### longitudinal control ### ### longitudinal control ###
# send acc msg at 50Hz # send acc msg at 50Hz
@ -89,16 +90,16 @@ class CarController:
gas = CarControllerParams.INACTIVE_GAS gas = CarControllerParams.INACTIVE_GAS
stopping = CC.actuators.longControlState == LongCtrlState.stopping stopping = CC.actuators.longControlState == LongCtrlState.stopping
can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping)) can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
### ui ### ### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
# send lkas ui msg at 1Hz or if ui state changes # send lkas ui msg at 1Hz or if ui state changes
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
# send acc ui msg at 5Hz or if ui state changes # send acc ui msg at 5Hz or if ui state changes
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive, can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
CS.out.cruiseState.standstill, hud_control, CS.out.cruiseState.standstill, hud_control,
CS.acc_tja_status_stock_values)) CS.acc_tja_status_stock_values))

7
selfdrive/car/ford/carstate.py
Unescape View File

@ -3,7 +3,8 @@ from common.conversions import Conversions as CV
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import DBC, CarControllerParams
GearShifter = car.CarState.GearShifter GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType TransmissionType = car.CarParams.TransmissionType
@ -211,7 +212,7 @@ class CarState(CarStateBase):
("Side_Detect_R_Stat", 5), ("Side_Detect_R_Stat", 5),
] ]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).main)
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
@ -268,4 +269,4 @@ class CarState(CarStateBase):
("IPMA_Data", 1), ("IPMA_Data", 1),
] ]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).camera)

49
selfdrive/car/ford/fordcan.py
Unescape View File

@ -1,9 +1,26 @@
from cereal import car from cereal import car
from selfdrive.car.ford.values import CANBUS from selfdrive.car import CanBusBase
HUDControl = car.CarControl.HUDControl HUDControl = car.CarControl.HUDControl
class CanBus(CanBusBase):
def __init__(self, CP=None, fingerprint=None) -> None:
super().__init__(CP, fingerprint)
@property
def main(self) -> int:
return self.offset
@property
def radar(self):
return self.offset + 1
@property
def camera(self):
return self.offset + 2
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray): def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
curvature = (dat[2] << 3) | ((dat[3]) >> 5) curvature = (dat[2] << 3) | ((dat[3]) >> 5)
curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5) curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
@ -17,7 +34,7 @@ def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
return 0xFF - (checksum & 0xFF) return 0xFF - (checksum & 0xFF)
def create_lka_msg(packer): def create_lka_msg(packer, CAN: CanBus):
""" """
Creates an empty CAN message for the Ford LKA Command. Creates an empty CAN message for the Ford LKA Command.
@ -26,10 +43,10 @@ def create_lka_msg(packer):
Frequency is 33Hz. Frequency is 33Hz.
""" """
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
curvature_rate: float): curvature_rate: float):
""" """
Creates a CAN message for the Ford TJA/LCA Command. Creates a CAN message for the Ford TJA/LCA Command.
@ -66,10 +83,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle:
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
} }
return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) return packer.make_can_msg("LateralMotionControl", CAN.main, values)
def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float, def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
curvature_rate: float, counter: int): curvature_rate: float, counter: int):
""" """
Create a CAN message for the new Ford Lane Centering command. Create a CAN message for the new Ford Lane Centering command.
@ -95,13 +112,13 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
} }
# calculate checksum # calculate checksum
dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2] dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values) return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool): def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool):
""" """
Creates a CAN message for the Ford ACC Command. Creates a CAN message for the Ford ACC Command.
@ -122,10 +139,10 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping
"AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active
"AccStopStat_B_Rq": 1 if stopping else 0, "AccStopStat_B_Rq": 1 if stopping else 0,
} }
return packer.make_can_msg("ACCDATA", CANBUS.main, values) return packer.make_can_msg("ACCDATA", CAN.main, values)
def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control, def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
stock_values: dict): stock_values: dict):
""" """
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
@ -197,10 +214,11 @@ def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool
"AccTGap_D_Dsply": 4, # Fixed time gap in UI "AccTGap_D_Dsply": 4, # Fixed time gap in UI
}) })
return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) return packer.make_can_msg("ACCDATA_3", CAN.main, values)
def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
stock_values: dict):
""" """
Creates a CAN message for the Ford IPC IPMA/LKAS status. Creates a CAN message for the Ford IPC IPMA/LKAS status.
@ -263,11 +281,10 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31]
"LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
}) })
return packer.make_can_msg("IPMA_Data", CANBUS.main, values) return packer.make_can_msg("IPMA_Data", CAN.main, values)
def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
bus: int = CANBUS.camera):
""" """
Creates a CAN message for the Ford SCCM buttons/switches. Creates a CAN message for the Ford SCCM buttons/switches.

14
selfdrive/car/ford/interface.py
Unescape View File

@ -3,6 +3,7 @@ from cereal import car
from panda import Panda from panda import Panda
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import CAR, Ecu from selfdrive.car.ford.values import CAR, Ecu
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -14,7 +15,6 @@ class CarInterface(CarInterfaceBase):
@staticmethod @staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "ford" ret.carName = "ford"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
# These cars are dashcam only for lack of test coverage. # These cars are dashcam only for lack of test coverage.
# Once a user confirms each car works and a test route is # Once a user confirms each car works and a test route is
@ -26,9 +26,15 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
ret.steerLimitTimer = 1.0 ret.steerLimitTimer = 1.0
CAN = CanBus(fingerprint=fingerprint)
cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
if CAN.main >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.experimentalLongitudinalAvailable = True ret.experimentalLongitudinalAvailable = True
if experimental_long: if experimental_long:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
if candidate == CAR.BRONCO_SPORT_MK1: if candidate == CAR.BRONCO_SPORT_MK1:
@ -61,7 +67,7 @@ class CarInterface(CarInterfaceBase):
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw] found_ecus = [fw.ecu for fw in car_fw]
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs: if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
ret.transmissionType = TransmissionType.automatic ret.transmissionType = TransmissionType.automatic
else: else:
ret.transmissionType = TransmissionType.manual ret.transmissionType = TransmissionType.manual
@ -69,7 +75,7 @@ class CarInterface(CarInterfaceBase):
# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
# TODO: detect bsm in car_fw? # TODO: detect bsm in car_fw?
ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0] ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
# LCA can steer down to zero # LCA can steer down to zero
ret.minSteerSpeed = 0. ret.minSteerSpeed = 0.

15
selfdrive/car/ford/radar_interface.py
Unescape View File

@ -3,7 +3,8 @@ from math import cos, sin
from cereal import car from cereal import car
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car.ford.values import CANBUS, DBC, RADAR from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import DBC, RADAR
from selfdrive.car.interfaces import RadarInterfaceBase from selfdrive.car.interfaces import RadarInterfaceBase
DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
@ -12,16 +13,16 @@ DELPHI_MRR_RADAR_START_ADDR = 0x120
DELPHI_MRR_RADAR_MSG_COUNT = 64 DELPHI_MRR_RADAR_MSG_COUNT = 64
def _create_delphi_esr_radar_can_parser(): def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
msg_n = len(DELPHI_ESR_RADAR_MSGS) msg_n = len(DELPHI_ESR_RADAR_MSGS)
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
DELPHI_ESR_RADAR_MSGS * 3)) DELPHI_ESR_RADAR_MSGS * 3))
checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n)) checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar) return CANParser(RADAR.DELPHI_ESR, signals, checks, CanBus(CP).radar)
def _create_delphi_mrr_radar_can_parser(): def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
signals = [] signals = []
checks = [] checks = []
@ -37,7 +38,7 @@ def _create_delphi_mrr_radar_can_parser():
] ]
checks += [(msg, 20)] checks += [(msg, 20)]
return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar) return CANParser(RADAR.DELPHI_MRR, signals, checks, CanBus(CP).radar)
class RadarInterface(RadarInterfaceBase): class RadarInterface(RadarInterfaceBase):
@ -50,11 +51,11 @@ class RadarInterface(RadarInterfaceBase):
if self.radar is None or CP.radarUnavailable: if self.radar is None or CP.radarUnavailable:
self.rcp = None self.rcp = None
elif self.radar == RADAR.DELPHI_ESR: elif self.radar == RADAR.DELPHI_ESR:
self.rcp = _create_delphi_esr_radar_can_parser() self.rcp = _create_delphi_esr_radar_can_parser(CP)
self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1] self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS} self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
elif self.radar == RADAR.DELPHI_MRR: elif self.radar == RADAR.DELPHI_MRR:
self.rcp = _create_delphi_mrr_radar_can_parser() self.rcp = _create_delphi_mrr_radar_can_parser(CP)
self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1 self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
else: else:
raise ValueError(f"Unsupported radar: {self.radar}") raise ValueError(f"Unsupported radar: {self.radar}")

42
selfdrive/car/ford/values.py
Unescape View File

@ -4,7 +4,7 @@ from typing import Dict, List, Set, Union
from cereal import car from cereal import car
from selfdrive.car import AngleRateLimit, dbc_dict from selfdrive.car import AngleRateLimit, dbc_dict
from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -29,8 +29,8 @@ class CarControllerParams:
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
ACCEL_MAX = 2.0 # m/s^s max acceleration ACCEL_MAX = 2.0 # m/s^2 max acceleration
ACCEL_MIN = -3.5 # m/s^s max deceleration ACCEL_MIN = -3.5 # m/s^2 max deceleration
MIN_GAS = -0.5 MIN_GAS = -0.5
INACTIVE_GAS = -5.0 INACTIVE_GAS = -5.0
@ -38,12 +38,6 @@ class CarControllerParams:
pass pass
class CANBUS:
main = 0
radar = 1
camera = 2
class CAR: class CAR:
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN" BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
@ -66,11 +60,11 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base
@dataclass @dataclass
class FordCarInfo(CarInfo): class FordCarInfo(CarInfo):
package: str = "Co-Pilot360 Assist+" package: str = "Co-Pilot360 Assist+"
car_parts: CarParts = CarParts.common([CarPart.ford_q3]) car_parts: CarParts = CarParts.common([CarHarness.ford_q3])
def init_make(self, CP: car.CarParams): def init_make(self, CP: car.CarParams):
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1): if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
self.car_parts = CarParts.common([CarPart.ford_q3, CarPart.angled_mount], remove=[CarPart.mount]) self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3])
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
@ -81,7 +75,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
], ],
CAR.EXPLORER_MK6: [ CAR.EXPLORER_MK6: [
FordCarInfo("Ford Explorer 2020-22"), FordCarInfo("Ford Explorer 2020-22"),
FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
], ],
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"), CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
@ -101,6 +95,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
), ),
], ],
extra_ecus=[
(Ecu.shiftByWire, 0x732, None),
],
) )
FW_VERSIONS = { FW_VERSIONS = {
@ -123,10 +120,6 @@ FW_VERSIONS = {
b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.shiftByWire, 0x732, None): [
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
}, },
CAR.ESCAPE_MK4: { CAR.ESCAPE_MK4: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
@ -153,11 +146,6 @@ FW_VERSIONS = {
b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.shiftByWire, 0x732, None): [
b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
}, },
CAR.EXPLORER_MK6: { CAR.EXPLORER_MK6: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
@ -184,18 +172,13 @@ FW_VERSIONS = {
], ],
(Ecu.engine, 0x7E0, None): [ (Ecu.engine, 0x7E0, None): [
b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.shiftByWire, 0x732, None): [
b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
}, },
CAR.FOCUS_MK4: { CAR.FOCUS_MK4: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
@ -213,8 +196,6 @@ FW_VERSIONS = {
(Ecu.engine, 0x7E0, None): [ (Ecu.engine, 0x7E0, None): [
b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.shiftByWire, 0x732, None): [
],
}, },
CAR.MAVERICK_MK1: { CAR.MAVERICK_MK1: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
@ -236,8 +217,5 @@ FW_VERSIONS = {
b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.shiftByWire, 0x732, None): [
b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
}, },
} }

8
selfdrive/car/fw_query_definitions.py
Unescape View File

@ -3,7 +3,7 @@ import capnp
import copy import copy
from dataclasses import dataclass, field from dataclasses import dataclass, field
import struct import struct
from typing import Dict, List, Optional, Tuple from typing import Callable, Dict, List, Optional, Set, Tuple
import panda.python.uds as uds import panda.python.uds as uds
@ -75,6 +75,12 @@ class FwQueryConfig:
# Ecus added for data collection, not to be fingerprinted on # Ecus added for data collection, not to be fingerprinted on
extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
# Brand-specific fuzzy fingerprinting config options:
# A function to get unique, platform-specific identification codes for a set of versions
fuzzy_get_platform_codes: Optional[Callable[[List[bytes]], Set[bytes]]] = None
# List of ECUs expected to have platform codes
platform_code_ecus: List[capnp.lib.capnp._EnumModule] = field(default_factory=list)
def __post_init__(self): def __post_init__(self):
for i in range(len(self.requests)): for i in range(len(self.requests)):
if self.requests[i].auxiliary: if self.requests[i].auxiliary:

69
selfdrive/car/fw_versions.py
Unescape View File

@ -1,7 +1,8 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from collections import defaultdict from collections import defaultdict
from typing import Any, Dict, List, Set from typing import Any, DefaultDict, Dict, List, Optional, Set, Tuple
from tqdm import tqdm from tqdm import tqdm
import capnp
import panda.python.uds as uds import panda.python.uds as uds
from cereal import car from cereal import car
@ -14,6 +15,7 @@ from system.swaglog import cloudlog
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
@ -27,23 +29,29 @@ def chunks(l, n=128):
yield l[i:i + n] yield l[i:i + n]
def build_fw_dict(fw_versions, filter_brand=None): def is_brand(brand: str, filter_brand: Optional[str]) -> bool:
"""Returns if brand matches filter_brand or no brand filter is specified"""
return filter_brand is None or brand == filter_brand
def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]:
fw_versions_dict = defaultdict(set) fw_versions_dict = defaultdict(set)
for fw in fw_versions: for fw in fw_versions:
if (filter_brand is None or fw.brand == filter_brand) and not fw.logging: if is_brand(fw.brand, filter_brand) and not fw.logging:
sub_addr = fw.subAddress if fw.subAddress != 0 else None sub_addr = fw.subAddress if fw.subAddress != 0 else None
fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion) fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
return dict(fw_versions_dict) return dict(fw_versions_dict)
def get_brand_addrs(): def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]:
brand_addrs = defaultdict(set) brand_addrs: DefaultDict[str, Set[Tuple[int, Optional[int]]]] = defaultdict(set)
for brand, cars in VERSIONS.items(): for brand, cars in VERSIONS.items():
# Add ecus in database + extra ecus to match against # Add ecus in database + extra ecus to match against
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
for fw in cars.values(): for fw in cars.values():
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
return brand_addrs return dict(brand_addrs)
def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
@ -51,12 +59,6 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
the match is rejected.""" the match is rejected."""
# These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
# impossible to get 3 matching versions, even if two models with shared parts are released at the same
# time and only one is in our database.
exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
# Build lookup table from (addr, sub_addr, fw) to list of candidate cars # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
all_fw_versions = defaultdict(list) all_fw_versions = defaultdict(list)
for candidate, fw_by_addr in FW_VERSIONS.items(): for candidate, fw_by_addr in FW_VERSIONS.items():
@ -64,35 +66,42 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
continue continue
for addr, fws in fw_by_addr.items(): for addr, fws in fw_by_addr.items():
if addr[0] in exclude_types: # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
# impossible to get 3 matching versions, even if two models with shared parts are released at the same
# time and only one is in our database.
if addr[0] in FUZZY_EXCLUDE_ECUS:
continue continue
for f in fws: for f in fws:
all_fw_versions[(addr[1], addr[2], f)].append(candidate) all_fw_versions[(addr[1], addr[2], f)].append(candidate)
match_count = 0 matched_ecus = set()
candidate = None candidate = None
for addr, versions in fw_versions_dict.items(): for addr, versions in fw_versions_dict.items():
ecu_key = (addr[0], addr[1])
for version in versions: for version in versions:
# All cars that have this FW response on the specified address # All cars that have this FW response on the specified address
candidates = all_fw_versions[(addr[0], addr[1], version)] candidates = all_fw_versions[(*ecu_key, version)]
if len(candidates) == 1: if len(candidates) == 1:
match_count += 1 matched_ecus.add(ecu_key)
if candidate is None: if candidate is None:
candidate = candidates[0] candidate = candidates[0]
# We uniquely matched two different cars. No fuzzy match possible # We uniquely matched two different cars. No fuzzy match possible
elif candidate != candidates[0]: elif candidate != candidates[0]:
return set() return set()
if match_count >= 2: # Note that it is possible to match to a candidate without all its ECUs being present
# if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
if len(matched_ecus) >= 2:
if log: if log:
cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs") cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
return {candidate} return {candidate}
else: else:
return set() return set()
def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: def match_fw_to_car_exact(fw_versions_dict, log=True) -> Set[str]:
"""Do an exact FW match. Returns all cars that match the given """Do an exact FW match. Returns all cars that match the given
FW versions for a list of "essential" ECUs. If an ECU is not considered FW versions for a list of "essential" ECUs. If an ECU is not considered
essential the FW version can be missing to get a fingerprint, but if it's present it essential the FW version can be missing to get a fingerprint, but if it's present it
@ -101,8 +110,8 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
candidates = FW_VERSIONS candidates = FW_VERSIONS
for candidate, fws in candidates.items(): for candidate, fws in candidates.items():
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
for ecu, expected_versions in fws.items(): for ecu, expected_versions in fws.items():
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
ecu_type = ecu[0] ecu_type = ecu[0]
addr = ecu[1:] addr = ecu[1:]
@ -127,7 +136,7 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
return set(candidates.keys()) - set(invalid) return set(candidates.keys()) - set(invalid)
def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
# Try exact matching first # Try exact matching first
exact_matches = [] exact_matches = []
if allow_exact: if allow_exact:
@ -140,7 +149,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
matches = set() matches = set()
for brand in VERSIONS.keys(): for brand in VERSIONS.keys():
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
matches |= match_func(fw_versions_dict) matches |= match_func(fw_versions_dict, log=log)
if len(matches): if len(matches):
return exact_match, matches return exact_match, matches
@ -214,7 +223,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
cloudlog.warning("OBD multiplexing set successfully") cloudlog.warning("OBD multiplexing set successfully")
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
List[capnp.lib.capnp._DynamicStructBuilder]:
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
all_car_fw = [] all_car_fw = []
@ -235,7 +245,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
return all_car_fw return all_car_fw
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
List[capnp.lib.capnp._DynamicStructBuilder]:
versions = VERSIONS.copy() versions = VERSIONS.copy()
params = Params() params = Params()
@ -273,7 +284,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
# Get versions and build capnp list to put into CarParams # Get versions and build capnp list to put into CarParams
car_fw = [] car_fw = []
requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
for addr in tqdm(addrs, disable=not progress): for addr in tqdm(addrs, disable=not progress):
for addr_chunk in chunks(addr): for addr_chunk in chunks(addr):
for brand, config, r in requests: for brand, config, r in requests:
@ -286,11 +297,11 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
set_obd_multiplexing(params, r.obd_multiplexing) set_obd_multiplexing(params, r.obd_multiplexing)
try: try:
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
if addrs: if query_addrs:
query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
for (tx_addr, sub_addr), version in query.get_data(timeout).items(): for (tx_addr, sub_addr), version in query.get_data(timeout).items():
f = car.CarParams.CarFw.new_message() f = car.CarParams.CarFw.new_message()

6
selfdrive/car/gm/values.py
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@ -5,7 +5,7 @@ from typing import Dict, List, Union
from cereal import car from cereal import car
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -89,9 +89,9 @@ class GMCarInfo(CarInfo):
def init_make(self, CP: car.CarParams): def init_make(self, CP: car.CarParams):
if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera: if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
self.car_parts = CarParts.common([CarPart.gm]) self.car_parts = CarParts.common([CarHarness.gm])
else: else:
self.car_parts = CarParts([CarPart.obd_ii, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft]) self.car_parts = CarParts.common([CarHarness.obd_ii])
self.footnotes.append(Footnote.OBD_II) self.footnotes.append(Footnote.OBD_II)

18
selfdrive/car/honda/carstate.py
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@ -148,7 +148,6 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"]) self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
self.brake_error = False
self.brake_switch_prev = False self.brake_switch_prev = False
self.brake_switch_active = False self.brake_switch_active = False
self.cruise_setting = 0 self.cruise_setting = 0
@ -195,9 +194,17 @@ class CarState(CarStateBase):
ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"] ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
elif self.CP.openpilotLongitudinalControl: else:
self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] # On some cars, these two signals are always 1, this flag is masking a bug in release
# FIXME: find and set the ACC faulted signals on more platforms
if self.CP.openpilotLongitudinalControl:
ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"])
# Log non-critical stock ACC/LKAS faults if Nidec (camera)
if self.CP.carFingerprint not in HONDA_BOSCH:
ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"])
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
ret.wheelSpeeds = self.get_wheel_speeds( ret.wheelSpeeds = self.get_wheel_speeds(
@ -332,12 +339,15 @@ class CarState(CarStateBase):
("AEB_REQ_1", "BRAKE_COMMAND"), ("AEB_REQ_1", "BRAKE_COMMAND"),
("FCW", "BRAKE_COMMAND"), ("FCW", "BRAKE_COMMAND"),
("CHIME", "BRAKE_COMMAND"), ("CHIME", "BRAKE_COMMAND"),
("LKAS_PROBLEM", "LKAS_HUD"),
("FCM_OFF", "ACC_HUD"), ("FCM_OFF", "ACC_HUD"),
("FCM_OFF_2", "ACC_HUD"), ("FCM_OFF_2", "ACC_HUD"),
("FCM_PROBLEM", "ACC_HUD"), ("FCM_PROBLEM", "ACC_HUD"),
("ACC_PROBLEM", "ACC_HUD"),
("ICONS", "ACC_HUD")] ("ICONS", "ACC_HUD")]
checks += [ checks += [
("ACC_HUD", 10), ("ACC_HUD", 10),
("LKAS_HUD", 10),
("BRAKE_COMMAND", 50), ("BRAKE_COMMAND", 50),
] ]

7
selfdrive/car/honda/interface.py
Unescape View File

@ -292,8 +292,8 @@ class CarInterface(CarInterfaceBase):
# 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
# conflict with PCM acc # conflict with PCM acc
stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors # mass and CG position, so all cars will have approximately similar dyn behaviors
@ -326,9 +326,6 @@ class CarInterface(CarInterfaceBase):
# events # events
events = self.create_common_events(ret, pcm_enable=False) events = self.create_common_events(ret, pcm_enable=False)
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed: if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed) events.add(EventName.belowEngageSpeed)

9
selfdrive/car/honda/values.py
Unescape View File

@ -6,7 +6,7 @@ from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from panda.python import uds from panda.python import uds
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -110,9 +110,9 @@ class HondaCarInfo(CarInfo):
def init_make(self, CP: car.CarParams): def init_make(self, CP: car.CarParams):
if CP.carFingerprint in HONDA_BOSCH: if CP.carFingerprint in HONDA_BOSCH:
self.car_parts = CarParts.common([CarPart.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarPart.bosch_a]) self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
else: else:
self.car_parts = CarParts.common([CarPart.nidec]) self.car_parts = CarParts.common([CarHarness.nidec])
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
@ -146,7 +146,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: [ CAR.PILOT: [
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-22", "All", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
], ],
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS), CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
@ -1130,6 +1130,7 @@ FW_VERSIONS = {
b'37805-RLV-B210\x00\x00', b'37805-RLV-B210\x00\x00',
b'37805-RLV-L160\x00\x00', b'37805-RLV-L160\x00\x00',
b'37805-RLV-B420\x00\x00', b'37805-RLV-B420\x00\x00',
b'37805-RLV-F120\x00\x00',
], ],
(Ecu.gateway, 0x18daeff1, None): [ (Ecu.gateway, 0x18daeff1, None): [
b'38897-TG7-A030\x00\x00', b'38897-TG7-A030\x00\x00',

2
selfdrive/car/hyundai/carcontroller.py
Unescape View File

@ -141,7 +141,7 @@ class CarController:
# cruise cancel # cruise cancel
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame self.last_button_frame = self.frame
else: else:
for _ in range(20): for _ in range(20):

11
selfdrive/car/hyundai/carstate.py
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@ -173,8 +173,8 @@ class CarState(CarStateBase):
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
gear = cp.vl[self.gear_msg_canfd]["GEAR"] gear = cp.vl[self.gear_msg_canfd]["GEAR"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
@ -457,8 +457,8 @@ class CarState(CarStateBase):
("LEFT_LAMP", "BLINKERS"), ("LEFT_LAMP", "BLINKERS"),
("RIGHT_LAMP", "BLINKERS"), ("RIGHT_LAMP", "BLINKERS"),
("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"), ("DRIVER_DOOR", "DOORS_SEATBELTS"),
("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), ("DRIVER_SEATBELT", "DOORS_SEATBELTS"),
] ]
checks = [ checks = [
@ -486,6 +486,8 @@ class CarState(CarStateBase):
if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
signals += [ signals += [
("COUNTER", "SCC_CONTROL"),
("CHECKSUM", "SCC_CONTROL"),
("ACCMode", "SCC_CONTROL"), ("ACCMode", "SCC_CONTROL"),
("VSetDis", "SCC_CONTROL"), ("VSetDis", "SCC_CONTROL"),
("CRUISE_STANDSTILL", "SCC_CONTROL"), ("CRUISE_STANDSTILL", "SCC_CONTROL"),
@ -528,6 +530,7 @@ class CarState(CarStateBase):
elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
signals += [ signals += [
("COUNTER", "SCC_CONTROL"), ("COUNTER", "SCC_CONTROL"),
("CHECKSUM", "SCC_CONTROL"),
("NEW_SIGNAL_1", "SCC_CONTROL"), ("NEW_SIGNAL_1", "SCC_CONTROL"),
("MainMode_ACC", "SCC_CONTROL"), ("MainMode_ACC", "SCC_CONTROL"),
("ACCMode", "SCC_CONTROL"), ("ACCMode", "SCC_CONTROL"),

35
selfdrive/car/hyundai/hyundaican.py
Unescape View File

@ -7,23 +7,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
torque_fault, lkas11, sys_warning, sys_state, enabled, torque_fault, lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane, left_lane, right_lane,
left_lane_depart, right_lane_depart): left_lane_depart, right_lane_depart):
values = {s: lkas11[s] for s in [ values = lkas11
"CF_Lkas_LdwsActivemode",
"CF_Lkas_LdwsSysState",
"CF_Lkas_SysWarning",
"CF_Lkas_LdwsLHWarning",
"CF_Lkas_LdwsRHWarning",
"CF_Lkas_HbaLamp",
"CF_Lkas_FcwBasReq",
"CF_Lkas_HbaSysState",
"CF_Lkas_FcwOpt",
"CF_Lkas_HbaOpt",
"CF_Lkas_FcwSysState",
"CF_Lkas_FcwCollisionWarning",
"CF_Lkas_FusionState",
"CF_Lkas_FcwOpt_USM",
"CF_Lkas_LdwsOpt_USM",
]}
values["CF_Lkas_LdwsSysState"] = sys_state values["CF_Lkas_LdwsSysState"] = sys_state
values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0 values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
values["CF_Lkas_LdwsLHWarning"] = left_lane_depart values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
@ -37,7 +21,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020): CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2 values["CF_Lkas_LdwsOpt_USM"] = 2
@ -95,20 +79,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
def create_clu11(packer, frame, clu11, button, car_fingerprint): def create_clu11(packer, frame, clu11, button, car_fingerprint):
values = {s: clu11[s] for s in [ values = clu11
"CF_Clu_CruiseSwState",
"CF_Clu_CruiseSwMain",
"CF_Clu_SldMainSW",
"CF_Clu_ParityBit1",
"CF_Clu_VanzDecimal",
"CF_Clu_Vanz",
"CF_Clu_SPEED_UNIT",
"CF_Clu_DetentOut",
"CF_Clu_RheostatLevel",
"CF_Clu_CluInfo",
"CF_Clu_AmpInfo",
"CF_Clu_AliveCnt1",
]}
values["CF_Clu_CruiseSwState"] = button values["CF_Clu_CruiseSwState"] = button
values["CF_Clu_AliveCnt1"] = frame % 0x10 values["CF_Clu_AliveCnt1"] = frame % 0x10
# send buttons to camera on camera-scc based cars # send buttons to camera on camera-scc based cars

59
selfdrive/car/hyundai/hyundaicanfd.py
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@ -1,17 +1,15 @@
import math
from common.numpy_fast import clip from common.numpy_fast import clip
from selfdrive.car import CanBusBase
from selfdrive.car.hyundai.values import HyundaiFlags from selfdrive.car.hyundai.values import HyundaiFlags
class CanBus: class CanBus(CanBusBase):
def __init__(self, CP, hda2=None, fingerprint=None): def __init__(self, CP, hda2=None, fingerprint=None) -> None:
if CP is None: super().__init__(CP, fingerprint)
assert None not in (hda2, fingerprint)
num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) if hda2 is None:
else: assert CP is not None
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
num = len(CP.safetyConfigs)
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
# have a different harness than the HDA1 and non-HDA variants in order to split # have a different harness than the HDA1 and non-HDA variants in order to split
@ -20,10 +18,9 @@ class CanBus:
if hda2: if hda2:
self._a, self._e = 0, 1 self._a, self._e = 0, 1
offset = 4*(num - 1) self._a += self.offset
self._a += offset self._e += self.offset
self._e += offset self._cam = 2 + self.offset
self._cam = 2 + offset
@property @property
def ECAN(self): def ECAN(self):
@ -63,11 +60,11 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
return ret return ret
def create_cam_0x2a4(packer, CAN, cam_0x2a4): def create_cam_0x2a4(packer, CAN, camera_values):
values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)} camera_values.update({
values['COUNTER'] = cam_0x2a4['COUNTER'] "BYTE7": 0,
values["BYTE7"] = 0 })
return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values) return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values)
def create_buttons(packer, CP, CAN, cnt, btn): def create_buttons(packer, CP, CAN, cnt, btn):
values = { values = {
@ -79,30 +76,8 @@ def create_buttons(packer, CP, CAN, cnt, btn):
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values) return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def create_acc_cancel(packer, CP, CAN, cruise_info_copy): def create_acc_cancel(packer, CAN, cruise_info_copy):
# TODO: why do we copy different values here? values = cruise_info_copy
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"NEW_SIGNAL_1",
"MainMode_ACC",
"ACCMode",
"CRUISE_INACTIVE",
"ZEROS_9",
"CRUISE_STANDSTILL",
"ZEROS_5",
"DISTANCE_SETTING",
"VSetDis",
]}
else:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"ACCMode",
"VSetDis",
"CRUISE_STANDSTILL",
]}
values.update({ values.update({
"ACCMode": 4, "ACCMode": 4,
}) })

2
selfdrive/car/hyundai/interface.py
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@ -311,7 +311,7 @@ class CarInterface(CarInterfaceBase):
# for blinkers # for blinkers
if CP.flags & HyundaiFlags.ENABLE_BLINKERS: if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01') disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
def _update(self, c): def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam) ret = self.CS.update(self.cp, self.cp_cam)

78
selfdrive/car/hyundai/tests/test_hyundai.py
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@ -2,7 +2,8 @@
import unittest import unittest
from cereal import car from cereal import car
from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, FW_QUERY_CONFIG, \
FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, PART_NUMBER_FW_PATTERN
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
@ -32,6 +33,81 @@ class TestHyundaiFingerprint(unittest.TestCase):
common_fw = set(fw).intersection(blacklisted_fw[ecu]) common_fw = set(fw).intersection(blacklisted_fw[ecu])
self.assertTrue(len(common_fw) == 0, f'{car_model}: Blacklisted fw version found in database: {common_fw}') self.assertTrue(len(common_fw) == 0, f'{car_model}: Blacklisted fw version found in database: {common_fw}')
def test_platform_code_ecus_available(self):
no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL,
CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model):
for fuzzy_ecu in FW_QUERY_CONFIG.platform_code_ecus:
if fuzzy_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
continue
if fuzzy_ecu == Ecu.eps and car_model in no_eps_platforms:
continue
self.assertIn(fuzzy_ecu, [e[0] for e in ecus])
def test_fw_part_number(self):
# Hyundai places the ECU part number in their FW versions, assert all parsable
# Some examples of valid formats: '56310-L0010', '56310L0010', '56310/M6300'
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model):
if car_model == CAR.HYUNDAI_GENESIS:
raise unittest.SkipTest("No part numbers for car model")
for ecu, fws in ecus.items():
if ecu[0] not in FW_QUERY_CONFIG.platform_code_ecus:
continue
for fw in fws:
match = PART_NUMBER_FW_PATTERN.search(fw)
self.assertIsNotNone(match, fw)
def test_fuzzy_fw_dates(self):
# Some newer platforms have date codes in a different format we don't yet parse,
# for now assert date format is consistent for all FW across each platform
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model):
for ecu, fws in ecus.items():
if ecu[0] not in FW_QUERY_CONFIG.platform_code_ecus:
continue
codes = set()
for fw in fws:
codes |= FW_QUERY_CONFIG.fuzzy_get_platform_codes([fw])
# Either no dates should be parsed or all dates should be parsed
self.assertEqual(len({b'-' in code for code in codes}), 1)
def test_fuzzy_platform_codes(self):
# Asserts basic platform code parsing behavior
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00DH LKAS 1.1 -150210'])
self.assertEqual(codes, {b"DH-1502"})
# Some cameras and all radars do not have dates
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 '])
self.assertEqual(codes, {b"AEhe"})
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 '])
self.assertEqual(codes, {b"CV1"})
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([
b'\xf1\x00DH LKAS 1.1 -150210',
b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ',
b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
])
self.assertEqual(codes, {b"DH-1502", b"AEhe", b"CV1"})
# Returned platform codes must inclusively contain start/end dates
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222',
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103',
b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405',
b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720',
])
self.assertEqual(codes, {b'LX2-2111', b'LX2-2112', b'LX2-2201', b'LX2-2202',
b'ON-1904', b'ON-1905', b'ON-1906', b'ON-1907'})
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

210
selfdrive/car/hyundai/values.py
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@ -1,13 +1,18 @@
import re
from datetime import datetime
from dateutil import rrule
from collections import defaultdict
from dataclasses import dataclass from dataclasses import dataclass
from enum import Enum, IntFlag from enum import Enum, IntFlag
from typing import Dict, List, Optional, Union from typing import DefaultDict, Dict, List, Optional, Set, Union
from cereal import car from cereal import car
from panda.python import uds from panda.python import uds
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
from system.swaglog import cloudlog
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -147,114 +152,114 @@ class HyundaiCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.ELANTRA: [ CAR.ELANTRA: [
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_b])), HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarPart.hyundai_e])), HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarPart.hyundai_e])), HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
], ],
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarPart.hyundai_k])), CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarPart.hyundai_k])), CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.HYUNDAI_GENESIS: [ CAR.HYUNDAI_GENESIS: [
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_j])), # TODO: check 2015 packages HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), # TODO: check 2015 packages
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_j])), HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
], ],
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarPart.hyundai_c])), CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarPart.hyundai_h])), # TODO: confirm 2020-21 harness CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarPart.hyundai_c])), CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarPart.hyundai_h])), CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarPart.hyundai_c])), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_h])), CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarPart.hyundai_b])), CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarPart.hyundai_g])), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarPart.hyundai_o])), CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarPart.hyundai_i])), # TODO: check packages CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarPart.hyundai_d])), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarPart.hyundai_l])), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_l])), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarPart.hyundai_l])), CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarPart.hyundai_e])), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.TUCSON: [ CAR.TUCSON: [
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_l])), HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarPart.hyundai_l])), HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
], ],
CAR.PALISADE: [ CAR.PALISADE: [
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarPart.hyundai_h])), HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_h])), HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
], ],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_e])), CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.IONIQ_5: [ CAR.IONIQ_5: [
HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_q])), HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarPart.hyundai_k])), HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarPart.hyundai_q])), HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
], ],
CAR.TUCSON_4TH_GEN: [ CAR.TUCSON_4TH_GEN: [
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarPart.hyundai_n])), HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarPart.hyundai_n])), HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
], ],
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_n])), CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarPart.hyundai_n])), CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
# Kia # Kia
CAR.KIA_FORTE: [ CAR.KIA_FORTE: [
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarPart.hyundai_g])), HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarPart.hyundai_e])), HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
], ],
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_NIRO_EV: [ CAR.KIA_NIRO_EV: [
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_h])), HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_f])), HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_c])), HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_h])), HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
], ],
CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_NIRO_PHEV: [ CAR.KIA_NIRO_PHEV: [
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarPart.hyundai_d])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
], ],
CAR.KIA_NIRO_HEV_2021: [ CAR.KIA_NIRO_HEV_2021: [
HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarPart.hyundai_f])), # TODO: 2021 could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify
], ],
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarPart.hyundai_b])), # TODO: may support 2016, 2018 CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarPart.hyundai_g])), CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KIA_OPTIMA_H: [ CAR.KIA_OPTIMA_H: [
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years
HyundaiCarInfo("Kia Optima Hybrid 2019"), HyundaiCarInfo("Kia Optima Hybrid 2019"),
], ],
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarPart.hyundai_n])), CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.KIA_SORENTO: [ CAR.KIA_SORENTO: [
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarPart.hyundai_c])), HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarPart.hyundai_e])), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
], ],
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarPart.hyundai_k])), CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarPart.hyundai_a])), CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarPart.hyundai_n])), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarPart.hyundai_c])), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarPart.hyundai_k])), CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarPart.hyundai_e])), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.KIA_EV6: [ CAR.KIA_EV6: [
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_p])), HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarPart.hyundai_l])), HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarPart.hyundai_p])) HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
], ],
# Genesis # Genesis
CAR.GENESIS_GV60_EV_1ST_GEN: [ CAR.GENESIS_GV60_EV_1ST_GEN: [
HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarPart.hyundai_a])), HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarPart.hyundai_k])), HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
], ],
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarPart.hyundai_f])), CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarPart.hyundai_f])), CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
CAR.GENESIS_GV70_1ST_GEN: [ CAR.GENESIS_GV70_1ST_GEN: [
HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_l])), HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_m])), HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
], ],
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarPart.hyundai_h])), CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarPart.hyundai_c])), CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarPart.hyundai_m])), CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
} }
class Buttons: class Buttons:
@ -342,6 +347,36 @@ FINGERPRINTS = {
}], }],
} }
def get_platform_codes(fw_versions: List[bytes]) -> Set[bytes]:
codes: DefaultDict[bytes, Set[bytes]] = defaultdict(set)
for fw in fw_versions:
match = PLATFORM_CODE_FW_PATTERN.search(fw)
if match is not None:
code, date = match.groups()
codes[code].add(date)
# Create platform codes for all dates inclusive if ECU has FW dates
final_codes = set()
for code, dates in codes.items():
# Radar and some cameras don't have FW dates
if None in dates:
final_codes.add(code)
continue
try:
parsed = {datetime.strptime(date.decode()[:4], '%y%m') for date in dates}
except ValueError:
cloudlog.exception(f'Error parsing date in FW versions: {code!r}, {dates}')
final_codes.add(code)
continue
for date in rrule.rrule(rrule.MONTHLY, dtstart=min(parsed), until=max(parsed)):
final_codes.add(code + b'-' + date.strftime('%y%m').encode())
return final_codes
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf100) # Long description p16(0xf100) # Long description
@ -355,6 +390,11 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
# Regex patterns for parsing platform code, FW date, and part number from FW versions
PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
b')[A-Z]{2}[A-Za-z0-9]{0,2})(?:.*([0-9]{6}))?')
PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
FW_QUERY_CONFIG = FwQueryConfig( FW_QUERY_CONFIG = FwQueryConfig(
requests=[ requests=[
# TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
@ -411,6 +451,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
(Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly
(Ecu.cornerRadar, 0x7b7, None), (Ecu.cornerRadar, 0x7b7, None),
], ],
fuzzy_get_platform_codes=get_platform_codes,
# Camera and radar should exist on all cars
# TODO: use abs, it has the platform code and part number on many platforms
platform_code_ecus=[Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps],
) )
FW_VERSIONS = { FW_VERSIONS = {
@ -542,14 +586,11 @@ FW_VERSIONS = {
}, },
CAR.SONATA: { CAR.SONATA: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ',
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ',
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ',
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ',
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ',
b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
], ],
(Ecu.abs, 0x7d1, None): [ (Ecu.abs, 0x7d1, None): [
b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@ -590,11 +631,9 @@ FW_VERSIONS = {
b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
@ -755,7 +794,7 @@ FW_VERSIONS = {
b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409',
b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12',
b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129',
b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102' b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102',
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207',
@ -850,12 +889,14 @@ FW_VERSIONS = {
], ],
(Ecu.eps, 0x7d4, None): [ (Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105',
b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100',
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727',
b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224',
b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727',
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
@ -1105,12 +1146,14 @@ FW_VERSIONS = {
b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107',
b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107',
b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108',
b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
], ],
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ',
@ -1124,6 +1167,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.GENESIS_G80: { CAR.GENESIS_G80: {
@ -1491,10 +1535,8 @@ FW_VERSIONS = {
b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ',
], ],
(Ecu.eps, 0x7d4, None): [ (Ecu.eps, 0x7d4, None): [
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819',

17
selfdrive/car/isotp_parallel_query.py
Unescape View File

@ -90,12 +90,14 @@ class IsoTpParallelQuery:
for addr in self.functional_addrs: for addr in self.functional_addrs:
self._create_isotp_msg(addr, None, -1).send(self.request[0]) self._create_isotp_msg(addr, None, -1).send(self.request[0])
# If querying functional addrs, set up physical IsoTpMessages to send consecutive frames # Send first frame (single or first) to all addresses and receive asynchronously in the loop below.
# If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames
for msg in msgs.values(): for msg in msgs.values():
msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0) msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0)
results = {} results = {}
start_time = time.monotonic() start_time = time.monotonic()
addrs_responded = set() # track addresses that have ever sent a valid iso-tp frame for timeout logging
response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs} response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
while True: while True:
self.rx() self.rx()
@ -110,6 +112,7 @@ class IsoTpParallelQuery:
# Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
if rx_in_progress: if rx_in_progress:
addrs_responded.add(tx_addr)
response_timeouts[tx_addr] = time.monotonic() + timeout response_timeouts[tx_addr] = time.monotonic() + timeout
if not dat: if not dat:
@ -117,7 +120,7 @@ class IsoTpParallelQuery:
counter = request_counter[tx_addr] counter = request_counter[tx_addr]
expected_response = self.response[counter] expected_response = self.response[counter]
response_valid = dat[:len(expected_response)] == expected_response response_valid = dat.startswith(expected_response)
if response_valid: if response_valid:
if counter + 1 < len(self.request): if counter + 1 < len(self.request):
@ -140,8 +143,14 @@ class IsoTpParallelQuery:
cur_time = time.monotonic() cur_time = time.monotonic()
for tx_addr in response_timeouts: for tx_addr in response_timeouts:
if cur_time - response_timeouts[tx_addr] > 0: if cur_time - response_timeouts[tx_addr] > 0:
if request_counter[tx_addr] > 0 and not request_done[tx_addr]: if not request_done[tx_addr]:
cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}") if request_counter[tx_addr] > 0:
cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
elif tx_addr in addrs_responded:
cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
# TODO: handle functional addresses
# else:
# cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}")
request_done[tx_addr] = True request_done[tx_addr] = True
# Break if all requests are done (finished or timed out) # Break if all requests are done (finished or timed out)

1
selfdrive/car/mazda/mazdacan.py
Unescape View File

@ -44,6 +44,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
csum = csum % 256 csum = csum % 256
values = {}
if car_fingerprint in GEN1: if car_fingerprint in GEN1:
values = { values = {
"LKAS_REQUEST": apply_steer, "LKAS_REQUEST": apply_steer,

4
selfdrive/car/mazda/values.py
Unescape View File

@ -3,7 +3,7 @@ from typing import Dict, List, Union
from cereal import car from cereal import car
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -37,7 +37,7 @@ class CAR:
@dataclass @dataclass
class MazdaCarInfo(CarInfo): class MazdaCarInfo(CarInfo):
package: str = "All" package: str = "All"
car_parts: CarParts = CarParts.common([CarPart.mazda]) car_parts: CarParts = CarParts.common([CarHarness.mazda])
CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {

1
selfdrive/car/nissan/carstate.py
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@ -171,6 +171,7 @@ class CarState(CarStateBase):
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"), ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
("NEW_SIGNAL_2", "CRUISE_THROTTLE"), ("NEW_SIGNAL_2", "CRUISE_THROTTLE"),
("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"), ("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"),
("COUNTER", "CRUISE_THROTTLE"),
("unsure1", "CRUISE_THROTTLE"), ("unsure1", "CRUISE_THROTTLE"),
("unsure2", "CRUISE_THROTTLE"), ("unsure2", "CRUISE_THROTTLE"),
("unsure3", "CRUISE_THROTTLE"), ("unsure3", "CRUISE_THROTTLE"),

19
selfdrive/car/nissan/values.py
Unescape View File

@ -4,7 +4,7 @@ from typing import Dict, List, Optional, Union
from cereal import car from cereal import car
from panda.python import uds from panda.python import uds
from selfdrive.car import AngleRateLimit, dbc_dict from selfdrive.car import AngleRateLimit, dbc_dict
from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -30,13 +30,10 @@ class CAR:
ALTIMA = "NISSAN ALTIMA 2020" ALTIMA = "NISSAN ALTIMA 2020"
NISSAN_PARTS: List[CarPart] = [CarPart.harness_box, CarPart.rj45_cable_7ft, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft]
@dataclass @dataclass
class NissanCarInfo(CarInfo): class NissanCarInfo(CarInfo):
package: str = "ProPILOT Assist" package: str = "ProPILOT Assist"
car_parts: CarParts = CarParts([CarPart.nissan_a] + NISSAN_PARTS) car_parts: CarParts = CarParts.common([CarHarness.nissan_a])
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
@ -44,7 +41,7 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
CAR.LEAF_IC: None, # same platforms CAR.LEAF_IC: None, # same platforms
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts([CarPart.nissan_b] + NISSAN_PARTS)), CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
} }
FINGERPRINTS = { FINGERPRINTS = {
@ -171,9 +168,9 @@ FW_VERSIONS = {
} }
DBC = { DBC = {
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None), CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
CAR.LEAF: dbc_dict('nissan_leaf_2018', None), CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None), CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None), CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None), CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
} }

6
selfdrive/car/subaru/carcontroller.py
Unescape View File

@ -36,9 +36,9 @@ class CarController:
apply_steer = 0 apply_steer = 0
if self.CP.carFingerprint in PREGLOBAL_CARS: if self.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer)) can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive))
else: else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer)) can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
self.apply_steer_last = apply_steer self.apply_steer_last = apply_steer
@ -76,7 +76,7 @@ class CarController:
can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart)) hud_control.leftLaneDepart, hud_control.rightLaneDepart))
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert)) can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))

5
selfdrive/car/subaru/carstate.py
Unescape View File

@ -110,6 +110,7 @@ class CarState(CarStateBase):
def get_global_es_distance_signals(): def get_global_es_distance_signals():
signals = [ signals = [
("COUNTER", "ES_Distance"), ("COUNTER", "ES_Distance"),
("CHECKSUM", "ES_Distance"),
("Signal1", "ES_Distance"), ("Signal1", "ES_Distance"),
("Cruise_Fault", "ES_Distance"), ("Cruise_Fault", "ES_Distance"),
("Cruise_Throttle", "ES_Distance"), ("Cruise_Throttle", "ES_Distance"),
@ -251,6 +252,7 @@ class CarState(CarStateBase):
else: else:
signals = [ signals = [
("COUNTER", "ES_DashStatus"), ("COUNTER", "ES_DashStatus"),
("CHECKSUM", "ES_DashStatus"),
("PCB_Off", "ES_DashStatus"), ("PCB_Off", "ES_DashStatus"),
("LDW_Off", "ES_DashStatus"), ("LDW_Off", "ES_DashStatus"),
("Signal1", "ES_DashStatus"), ("Signal1", "ES_DashStatus"),
@ -278,6 +280,7 @@ class CarState(CarStateBase):
("Cruise_State", "ES_DashStatus"), ("Cruise_State", "ES_DashStatus"),
("COUNTER", "ES_LKAS_State"), ("COUNTER", "ES_LKAS_State"),
("CHECKSUM", "ES_LKAS_State"),
("LKAS_Alert_Msg", "ES_LKAS_State"), ("LKAS_Alert_Msg", "ES_LKAS_State"),
("Signal1", "ES_LKAS_State"), ("Signal1", "ES_LKAS_State"),
("LKAS_ACTIVE", "ES_LKAS_State"), ("LKAS_ACTIVE", "ES_LKAS_State"),
@ -305,6 +308,8 @@ class CarState(CarStateBase):
if CP.flags & SubaruFlags.SEND_INFOTAINMENT: if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
signals += [ signals += [
("COUNTER", "INFOTAINMENT_STATUS"),
("CHECKSUM", "INFOTAINMENT_STATUS"),
("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"), ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"),
("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"), ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"),
("Signal1", "INFOTAINMENT_STATUS"), ("Signal1", "INFOTAINMENT_STATUS"),

8
selfdrive/car/subaru/subarucan.py
Unescape View File

@ -3,10 +3,10 @@ from cereal import car
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
def create_steering_control(packer, apply_steer): def create_steering_control(packer, apply_steer, steer_req):
values = { values = {
"LKAS_Output": apply_steer, "LKAS_Output": apply_steer,
"LKAS_Request": 1 if apply_steer != 0 else 0, "LKAS_Request": steer_req,
"SET_1": 1 "SET_1": 1
} }
return packer.make_can_msg("ES_LKAS", 0, values) return packer.make_can_msg("ES_LKAS", 0, values)
@ -174,10 +174,10 @@ def subaru_preglobal_checksum(packer, values, addr):
return (sum(dat[:7])) % 256 return (sum(dat[:7])) % 256
def create_preglobal_steering_control(packer, apply_steer): def create_preglobal_steering_control(packer, apply_steer, steer_req):
values = { values = {
"LKAS_Command": apply_steer, "LKAS_Command": apply_steer,
"LKAS_Active": 1 if apply_steer != 0 else 0 "LKAS_Active": steer_req,
} }
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS") values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")

8
selfdrive/car/subaru/values.py
Unescape View File

@ -5,7 +5,7 @@ from typing import Dict, List, Union
from cereal import car from cereal import car
from panda.python import uds from panda.python import uds
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -53,13 +53,13 @@ class CAR:
@dataclass @dataclass
class SubaruCarInfo(CarInfo): class SubaruCarInfo(CarInfo):
package: str = "EyeSight Driver Assistance" package: str = "EyeSight Driver Assistance"
car_parts: CarParts = CarParts.common([CarPart.subaru_a]) car_parts: CarParts = CarParts.common([CarHarness.subaru_a])
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarPart.subaru_b])), CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarPart.subaru_b])), CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
CAR.IMPREZA: [ CAR.IMPREZA: [
SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),

21
selfdrive/car/tesla/carcontroller.py
Unescape View File

@ -24,17 +24,18 @@ class CarController:
hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3 hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
lkas_enabled = CC.latActive and not hands_on_fault lkas_enabled = CC.latActive and not hands_on_fault
if lkas_enabled: if self.frame % 2 == 0:
# Angular rate limit based on speed if lkas_enabled:
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) # Angular rate limit based on speed
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
# To not fault the EPS # To not fault the EPS
apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
else: else:
apply_angle = CS.out.steeringAngleDeg apply_angle = CS.out.steeringAngleDeg
self.apply_angle_last = apply_angle self.apply_angle_last = apply_angle
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame)) can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
# Longitudinal control (in sync with stock message, about 40Hz) # Longitudinal control (in sync with stock message, about 40Hz)
if self.CP.openpilotLongitudinalControl: if self.CP.openpilotLongitudinalControl:
@ -59,7 +60,7 @@ class CarController:
# TODO: HUD control # TODO: HUD control
new_actuators = actuators.copy() new_actuators = actuators.copy()
new_actuators.steeringAngleDeg = apply_angle new_actuators.steeringAngleDeg = self.apply_angle_last
self.frame += 1 self.frame += 1
return new_actuators, can_sends return new_actuators, can_sends

4
selfdrive/car/tesla/teslacan.py
Unescape View File

@ -17,12 +17,12 @@ class TeslaCAN:
ret += sum(dat) ret += sum(dat)
return ret & 0xFF return ret & 0xFF
def create_steering_control(self, angle, enabled, frame): def create_steering_control(self, angle, enabled, counter):
values = { values = {
"DAS_steeringAngleRequest": -angle, "DAS_steeringAngleRequest": -angle,
"DAS_steeringHapticRequest": 0, "DAS_steeringHapticRequest": 0,
"DAS_steeringControlType": 1 if enabled else 0, "DAS_steeringControlType": 1 if enabled else 0,
"DAS_steeringControlCounter": (frame % 16), "DAS_steeringControlCounter": counter,
} }
data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2] data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]

4
selfdrive/car/tesla/values.py
Unescape View File

@ -103,8 +103,8 @@ BUTTONS = [
] ]
class CarControllerParams: class CarControllerParams:
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15]) ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
JERK_LIMIT_MAX = 8 JERK_LIMIT_MAX = 8
JERK_LIMIT_MIN = -8 JERK_LIMIT_MIN = -8
ACCEL_TO_SPEED_MULTIPLIER = 3 ACCEL_TO_SPEED_MULTIPLIER = 3

19
selfdrive/car/tests/test_docs.py
Unescape View File

@ -1,12 +1,16 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from collections import defaultdict from collections import defaultdict
import os
import re import re
import unittest import unittest
from common.basedir import BASEDIR
from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.car_helpers import interfaces, get_interface_attr
from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
from selfdrive.car.docs_definitions import CarPart, Column, PartType, Star from selfdrive.car.docs_definitions import Cable, Column, PartType, Star
from selfdrive.car.honda.values import CAR as HONDA from selfdrive.car.honda.values import CAR as HONDA
from selfdrive.debug.dump_car_info import dump_car_info
from selfdrive.debug.print_docs_diff import print_car_info_diff
class TestCarDocs(unittest.TestCase): class TestCarDocs(unittest.TestCase):
@ -22,6 +26,12 @@ class TestCarDocs(unittest.TestCase):
self.assertEqual(generated_cars_md, current_cars_md, self.assertEqual(generated_cars_md, current_cars_md,
"Run selfdrive/car/docs.py to update the compatibility documentation") "Run selfdrive/car/docs.py to update the compatibility documentation")
def test_docs_diff(self):
dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
dump_car_info(dump_path)
print_car_info_diff(dump_path)
os.remove(dump_path)
def test_duplicate_years(self): def test_duplicate_years(self):
make_model_years = defaultdict(list) make_model_years = defaultdict(list)
for car in self.all_cars: for car in self.all_cars:
@ -74,11 +84,12 @@ class TestCarDocs(unittest.TestCase):
if car.name == "comma body": if car.name == "comma body":
raise unittest.SkipTest raise unittest.SkipTest
car_part_type = [p.value.type for p in car.car_parts.parts] car_part_type = [p.type for p in car.car_parts.all_parts()]
self.assertTrue(len(car.car_parts.parts) > 0, f"Need to specify car parts: {car.name}") car_parts = [p for p in car.car_parts.all_parts()]
self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}")
self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}") self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}")
self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}") self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}")
self.assertTrue(CarPart.right_angle_obd_c_cable_1_5ft in car.car_parts.parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}") self.assertTrue(Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}")
if __name__ == "__main__": if __name__ == "__main__":

53
selfdrive/car/tests/test_fw_fingerprint.py
Unescape View File

@ -10,7 +10,7 @@ from cereal import car
from common.params import Params from common.params import Params
from selfdrive.car.car_helpers import interfaces from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, match_fw_to_car, get_fw_versions
CarFw = car.CarParams.CarFw CarFw = car.CarParams.CarFw
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -33,27 +33,51 @@ class TestFwFingerprint(unittest.TestCase):
self.assertEqual(candidates[0], expected) self.assertEqual(candidates[0], expected)
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
def test_fw_fingerprint(self, brand, car_model, ecus): def test_exact_match(self, brand, car_model, ecus):
CP = car.CarParams.new_message() CP = car.CarParams.new_message()
for _ in range(200): for _ in range(200):
fw = [] fw = []
for ecu, fw_versions in ecus.items(): for ecu, fw_versions in ecus.items():
if not len(fw_versions):
raise unittest.SkipTest("Car model has no FW versions")
ecu_name, addr, sub_addr = ecu ecu_name, addr, sub_addr = ecu
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
CP.carFw = fw CP.carFw = fw
_, matches = match_fw_to_car(CP.carFw) _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
self.assertFingerprints(matches, car_model) self.assertFingerprints(matches, car_model)
def test_no_duplicate_fw_versions(self): @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
# Asserts that fuzzy matching does not count matching FW, but ECU address keys
valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
if not len(valid_ecus):
raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching")
fw = []
for ecu in valid_ecus:
ecu_name, addr, sub_addr = ecu
for _ in range(5):
# Add multiple FW versions to simulate ECU returning to multiple queries in a brand
fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
CP = car.CarParams.new_message(carFw=fw)
_, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
# Assert no match if there are not enough unique ECUs
unique_ecus = {(f['address'], f['subAddress']) for f in fw}
if len(unique_ecus) < 2:
self.assertEqual(len(matches), 0, car_model)
# There won't always be a match due to shared FW, but if there is it should be correct
elif len(matches):
self.assertFingerprints(matches, car_model)
def test_fw_version_lists(self):
for car_model, ecus in FW_VERSIONS.items(): for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model): with self.subTest(car_model=car_model):
for ecu, ecu_fw in ecus.items(): for ecu, ecu_fw in ecus.items():
with self.subTest(ecu): with self.subTest(ecu):
duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}')
self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}')
def test_all_addrs_map_to_one_ecu(self): def test_all_addrs_map_to_one_ecu(self):
for brand, cars in VERSIONS.items(): for brand, cars in VERSIONS.items():
@ -99,6 +123,21 @@ class TestFwFingerprint(unittest.TestCase):
with self.subTest(): with self.subTest():
self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
def test_fuzzy_fingerprint_config(self):
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand):
if config.fuzzy_get_platform_codes is None:
self.assertEqual(len(config.platform_code_ecus), 0, "Cannot specify platform code ECUs without full config")
else:
self.assertGreater(len(config.platform_code_ecus), 0, "Need to specify platform code ECUs")
# Assert every supported ECU FW version returns one platform code
for fw_by_addr in VERSIONS[brand].values():
for addr, fws in fw_by_addr.items():
if addr[0] in config.platform_code_ecus:
for f in fws:
self.assertEqual(1, len(config.fuzzy_get_platform_codes([f])), f"Unable to parse FW: {f}")
def test_fw_request_ecu_whitelist(self): def test_fw_request_ecu_whitelist(self):
for brand, config in FW_QUERY_CONFIGS.items(): for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand): with self.subTest(brand=brand):

5
selfdrive/car/toyota/values.py
Unescape View File

@ -6,7 +6,7 @@ from typing import Dict, List, Union
from cereal import car from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarPart, CarParts from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -102,7 +102,7 @@ class Footnote(Enum):
@dataclass @dataclass
class ToyotaCarInfo(CarInfo): class ToyotaCarInfo(CarInfo):
package: str = "All" package: str = "All"
car_parts: CarParts = CarParts.common([CarPart.toyota]) car_parts: CarParts = CarParts.common([CarHarness.toyota])
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
@ -1131,7 +1131,6 @@ FW_VERSIONS = {
b'\x01896630EF8000\x00\x00\x00\x00', b'\x01896630EF8000\x00\x00\x00\x00',
b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
], ],

38
selfdrive/car/volkswagen/values.py
Unescape View File

@ -7,7 +7,8 @@ from cereal import car
from panda.python import uds from panda.python import uds
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
Device
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -153,7 +154,11 @@ class Footnote(Enum):
PASSAT = CarFootnote( PASSAT = CarFootnote(
"Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.", "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
Column.MODEL) Column.MODEL)
VW_EXP_LONG = CarFootnote ( SKODA_HEATED_WINDSHIELD = CarFootnote(
"Some Škoda vehicles are equipped with heated windshields, which are known " +
"to block GPS signal needed for some comma three functionality.",
Column.MODEL)
VW_EXP_LONG = CarFootnote(
"Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " + "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
"are limited to using stock ACC.", "are limited to using stock ACC.",
Column.LONGITUDINAL) Column.LONGITUDINAL)
@ -166,10 +171,15 @@ class Footnote(Enum):
@dataclass @dataclass
class VWCarInfo(CarInfo): class VWCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC) & Lane Assist" package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
car_parts: CarParts = CarParts([CarPart.j533, CarPart.harness_box, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft]) car_parts: CarParts = CarParts.common([CarHarness.j533])
def init_make(self, CP: car.CarParams): def init_make(self, CP: car.CarParams):
self.footnotes.insert(0, Footnote.VW_EXP_LONG) self.footnotes.append(Footnote.VW_EXP_LONG)
if "SKODA" in CP.carFingerprint:
self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533])
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
@ -913,6 +923,7 @@ FW_VERSIONS = {
b'\xf1\x8704E906027CJ\xf1\x897798', b'\xf1\x8704E906027CJ\xf1\x897798',
b'\xf1\x8704L997022N \xf1\x899459', b'\xf1\x8704L997022N \xf1\x899459',
b'\xf1\x875G0906259A \xf1\x890004', b'\xf1\x875G0906259A \xf1\x890004',
b'\xf1\x875G0906259D \xf1\x890002',
b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259L \xf1\x890002',
b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002',
b'\xf1\x878V0906259F \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002',
@ -922,7 +933,7 @@ FW_VERSIONS = {
b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0906264B \xf1\x890003',
b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907115B \xf1\x890007',
b'\xf1\x878V0907404A \xf1\x890005', b'\xf1\x878V0907404A \xf1\x890005',
b'\xf1\x875G0906259D \xf1\x890002', b'\xf1\x878V0907404G \xf1\x890005',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300044T \xf1\x895245',
@ -939,6 +950,7 @@ FW_VERSIONS = {
b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046F \xf1\x891602',
b'\xf1\x870DD300046G \xf1\x891601', b'\xf1\x870DD300046G \xf1\x891601',
b'\xf1\x870DL300012E \xf1\x892012', b'\xf1\x870DL300012E \xf1\x892012',
b'\xf1\x870DL300012H \xf1\x892112',
b'\xf1\x870GC300011 \xf1\x890403', b'\xf1\x870GC300011 \xf1\x890403',
b'\xf1\x870GC300013M \xf1\x892402', b'\xf1\x870GC300013M \xf1\x892402',
b'\xf1\x870GC300042J \xf1\x891402', b'\xf1\x870GC300042J \xf1\x891402',
@ -951,9 +963,9 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221',
b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114',
b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114',
], ],
@ -962,6 +974,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1', b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
@ -1054,21 +1067,25 @@ FW_VERSIONS = {
b'\xf1\x8704L906056CR\xf1\x892797', b'\xf1\x8704L906056CR\xf1\x892797',
b'\xf1\x8705E906018AS\xf1\x899596', b'\xf1\x8705E906018AS\xf1\x899596',
b'\xf1\x878V0906264H \xf1\x890005', b'\xf1\x878V0906264H \xf1\x890005',
b'\xf1\x878V0907115E \xf1\x890002',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300041D \xf1\x891004', b'\xf1\x870CW300041D \xf1\x891004',
b'\xf1\x870CW300041G \xf1\x891003', b'\xf1\x870CW300041G \xf1\x891003',
b'\xf1\x870CW300050J \xf1\x891908', b'\xf1\x870CW300050J \xf1\x891908',
b'\xf1\x870D9300042M \xf1\x895016', b'\xf1\x870D9300042M \xf1\x895016',
b'\xf1\x870GC300043A \xf1\x892304',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900', b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
], ],
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1',
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1',
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0',
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
@ -1117,6 +1134,7 @@ FW_VERSIONS = {
}, },
CAR.SKODA_KAROQ_MK1: { CAR.SKODA_KAROQ_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8705E906018P \xf1\x895472',
b'\xf1\x8705E906018P \xf1\x896020', b'\xf1\x8705E906018P \xf1\x896020',
b'\xf1\x8705L906022BS\xf1\x890913', b'\xf1\x8705L906022BS\xf1\x890913',
], ],
@ -1125,14 +1143,17 @@ FW_VERSIONS = {
b'\xf1\x870GC300014L \xf1\x892802', b'\xf1\x870GC300014L \xf1\x892802',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100',
b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100', b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00', b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
], ],
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
], ],
(Ecu.fwdRadar, 0x757, None): [ (Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AB\xf1\x890397',
b'\xf1\x872Q0907572M \xf1\x890233', b'\xf1\x872Q0907572M \xf1\x890233',
b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572T \xf1\x890383',
], ],
@ -1140,6 +1161,7 @@ FW_VERSIONS = {
CAR.SKODA_KODIAQ_MK1: { CAR.SKODA_KODIAQ_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027DD\xf1\x893123', b'\xf1\x8704E906027DD\xf1\x893123',
b'\xf1\x8704E906027NB\xf1\x896517',
b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026DE\xf1\x895418',
b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026EJ\xf1\x893661',
b'\xf1\x8704L906026HT\xf1\x893617', b'\xf1\x8704L906026HT\xf1\x893617',
@ -1148,6 +1170,7 @@ FW_VERSIONS = {
b'\xf1\x8705E906018DJ\xf1\x891903', b'\xf1\x8705E906018DJ\xf1\x891903',
b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890003',
b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x875NA907115E \xf1\x890005',
b'\xf1\x875NA906259E \xf1\x890003',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870D9300043 \xf1\x895202',
@ -1156,6 +1179,7 @@ FW_VERSIONS = {
b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300012N \xf1\x892110',
b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870DL300013G \xf1\x892119',
b'\xf1\x870GC300014N \xf1\x892801', b'\xf1\x870GC300014N \xf1\x892801',
b'\xf1\x870GC300019H \xf1\x892806',
b'\xf1\x870GC300046Q \xf1\x892802', b'\xf1\x870GC300046Q \xf1\x892802',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
@ -1165,6 +1189,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
], ],
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
@ -1172,6 +1197,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
], ],
(Ecu.fwdRadar, 0x757, None): [ (Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572Q \xf1\x890342', b'\xf1\x872Q0907572Q \xf1\x890342',

20
selfdrive/controls/controlsd.py
Unescape View File

@ -9,6 +9,7 @@ from common.realtime import sec_since_boot, config_realtime_process, Priority, R
from common.profiler import Profiler from common.profiler import Profiler
from common.params import Params, put_nonblocking from common.params import Params, put_nonblocking
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal.visionipc import VisionIpcClient, VisionStreamType
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from panda import ALTERNATIVE_EXPERIENCE from panda import ALTERNATIVE_EXPERIENCE
from system.swaglog import cloudlog from system.swaglog import cloudlog
@ -20,7 +21,6 @@ from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted
from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from selfdrive.controls.lib.longcontrol import LongControl from selfdrive.controls.lib.longcontrol import LongControl
from selfdrive.controls.lib.latcontrol_pid import LatControlPID from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from selfdrive.controls.lib.latcontrol_torque import LatControlTorque from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from selfdrive.controls.lib.events import Events, ET from selfdrive.controls.lib.events import Events, ET
@ -34,6 +34,7 @@ LANE_DEPARTURE_THRESHOLD = 0.1
REPLAY = "REPLAY" in os.environ REPLAY = "REPLAY" in os.environ
SIMULATION = "SIMULATION" in os.environ SIMULATION = "SIMULATION" in os.environ
TESTING_CLOSET = "TESTING_CLOSET" in os.environ
NOSENSOR = "NOSENSOR" in os.environ NOSENSOR = "NOSENSOR" in os.environ
IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
@ -82,8 +83,6 @@ class Controls:
ignore = ['testJoystick'] ignore = ['testJoystick']
if SIMULATION: if SIMULATION:
ignore += ['driverCameraState', 'managerState'] ignore += ['driverCameraState', 'managerState']
if self.params.get_bool('WideCameraOnly'):
ignore += ['roadCameraState']
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
@ -151,8 +150,6 @@ class Controls:
self.LaC = LatControlAngle(self.CP, self.CI) self.LaC = LatControlAngle(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'pid': elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CI) self.LaC = LatControlPID(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'torque': elif self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.CI) self.LaC = LatControlTorque(self.CP, self.CI)
@ -172,6 +169,7 @@ class Controls:
self.events_prev = [] self.events_prev = []
self.current_alert_types = [ET.PERMANENT] self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = None self.logged_comm_issue = None
self.not_running_prev = None
self.last_actuators = car.CarControl.Actuators.new_message() self.last_actuators = car.CarControl.Actuators.new_message()
self.steer_limited = False self.steer_limited = False
self.desired_curvature = 0.0 self.desired_curvature = 0.0
@ -263,7 +261,6 @@ class Controls:
if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
# under 7% of space free no enable allowed # under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace) self.events.add(EventName.outOfSpace)
# TODO: make tici threshold the same
if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
self.events.add(EventName.lowMemory) self.events.add(EventName.lowMemory)
@ -332,6 +329,9 @@ class Controls:
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES): if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning) self.events.add(EventName.processNotRunning)
if not_running != self.not_running_prev:
cloudlog.event("process_not_running", not_running=not_running, error=True)
self.not_running_prev = not_running
else: else:
if not SIMULATION and not self.rk.lagging: if not SIMULATION and not self.rk.lagging:
if not self.sm.all_alive(self.camera_packets): if not self.sm.all_alive(self.camera_packets):
@ -373,7 +373,7 @@ class Controls:
else: else:
self.logged_comm_issue = None self.logged_comm_issue = None
if not self.sm['liveParameters'].valid: if not self.sm['liveParameters'].valid and not TESTING_CLOSET:
self.events.add(EventName.vehicleModelInvalid) self.events.add(EventName.vehicleModelInvalid)
if not self.sm['lateralPlan'].mpcSolutionValid: if not self.sm['lateralPlan'].mpcSolutionValid:
self.events.add(EventName.plannerError) self.events.add(EventName.plannerError)
@ -437,6 +437,12 @@ class Controls:
all_valid = CS.canValid and self.sm.all_checks() all_valid = CS.canValid and self.sm.all_checks()
timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5) timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
if all_valid or timed_out or SIMULATION: if all_valid or timed_out or SIMULATION:
available_streams = VisionIpcClient.available_streams("camerad", block=False)
if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
self.sm.ignore_alive.append('roadCameraState')
if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
self.sm.ignore_alive.append('wideRoadCameraState')
if not self.read_only: if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])

6
selfdrive/controls/lib/events.py
Unescape View File

@ -885,12 +885,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"), ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
}, },
EventName.brakeUnavailable: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
EventName.reverseGear: { EventName.reverseGear: {
ET.PERMANENT: Alert( ET.PERMANENT: Alert(
"Reverse\nGear", "Reverse\nGear",

120
selfdrive/controls/lib/latcontrol_indi.py
Unescape View File

@ -1,120 +0,0 @@
import math
import numpy as np
from cereal import log
from common.filter_simple import FirstOrderFilter
from common.numpy_fast import clip, interp
from common.realtime import DT_CTRL
from selfdrive.controls.lib.latcontrol import LatControl
class LatControlINDI(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
self.angle_steers_des = 0.
A = np.array([[1.0, DT_CTRL, 0.0],
[0.0, 1.0, DT_CTRL],
[0.0, 0.0, 1.0]])
C = np.array([[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0]])
# Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
# R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
# (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
# K = np.transpose(K)
K = np.array([[7.30262179e-01, 2.07003658e-04],
[7.29394177e+00, 1.39159419e-02],
[1.71022442e+01, 3.38495381e-02]])
self.speed = 0.
self.K = K
self.A_K = A - np.dot(K, C)
self.x = np.array([[0.], [0.], [0.]])
self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
self.reset()
@property
def RC(self):
return interp(self.speed, self._RC[0], self._RC[1])
@property
def G(self):
return interp(self.speed, self._G[0], self._G[1])
@property
def outer_loop_gain(self):
return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
@property
def inner_loop_gain(self):
return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
def reset(self):
super().reset()
self.steer_filter.x = 0.
self.speed = 0.
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
self.speed = CS.vEgo
# Update Kalman filter
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
indi_log = log.ControlsState.LateralINDIState.new_message()
indi_log.steeringAngleDeg = math.degrees(self.x[0])
indi_log.steeringRateDeg = math.degrees(self.x[1])
indi_log.steeringAccelDeg = math.degrees(self.x[2])
steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)
steers_des += math.radians(params.angleOffsetDeg)
indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
if not active:
indi_log.active = False
self.steer_filter.x = 0.0
output_steer = 0
else:
# Expected actuator value
self.steer_filter.update_alpha(self.RC)
self.steer_filter.update(last_actuators.steer)
# Compute acceleration error
rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
accel_error = accel_sp - self.x[2]
# Compute change in actuator
g_inv = 1. / self.G
delta_u = g_inv * accel_error
# If steering pressed, only allow wind down
if CS.steeringPressed and (delta_u * last_actuators.steer > 0):
delta_u = 0
output_steer = self.steer_filter.x + delta_u
output_steer = clip(output_steer, -self.steer_max, self.steer_max)
indi_log.active = True
indi_log.rateSetPoint = float(rate_sp)
indi_log.accelSetPoint = float(accel_sp)
indi_log.accelError = float(accel_error)
indi_log.delayedOutput = float(self.steer_filter.x)
indi_log.delta = float(delta_u)
indi_log.output = float(output_steer)
indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
return float(output_steer), float(steers_des), indi_log

2
selfdrive/controls/lib/lateral_planner.py
Unescape View File

@ -112,7 +112,7 @@ class LateralPlanner:
self.last_cloudlog_t = t self.last_cloudlog_t = t
cloudlog.warning("Lateral mpc - nan: True") cloudlog.warning("Lateral mpc - nan: True")
if self.lat_mpc.cost > 20000. or mpc_nans: if self.lat_mpc.cost > 1e6 or mpc_nans:
self.solution_invalid_cnt += 1 self.solution_invalid_cnt += 1
else: else:
self.solution_invalid_cnt = 0 self.solution_invalid_cnt = 0

49
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
Unescape View File

@ -1,7 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os import os
import numpy as np import numpy as np
from cereal import log
from common.realtime import sec_since_boot from common.realtime import sec_since_boot
from common.numpy_fast import clip from common.numpy_fast import clip
from system.swaglog import cloudlog from system.swaglog import cloudlog
@ -54,18 +54,38 @@ FCW_IDXS = T_IDXS < 5.0
T_DIFFS = np.diff(T_IDXS, prepend=[0.]) T_DIFFS = np.diff(T_IDXS, prepend=[0.])
MIN_ACCEL = -3.5 MIN_ACCEL = -3.5
MAX_ACCEL = 2.0 MAX_ACCEL = 2.0
T_FOLLOW = 1.45
COMFORT_BRAKE = 2.5 COMFORT_BRAKE = 2.5
STOP_DISTANCE = 6.0 STOP_DISTANCE = 6.0
def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed:
return 1.0
elif personality==log.LongitudinalPersonality.standard:
return 1.0
elif personality==log.LongitudinalPersonality.aggressive:
return 0.5
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed:
return 1.75
elif personality==log.LongitudinalPersonality.standard:
return 1.45
elif personality==log.LongitudinalPersonality.aggressive:
return 1.25
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_stopped_equivalence_factor(v_lead): def get_stopped_equivalence_factor(v_lead):
return (v_lead**2) / (2 * COMFORT_BRAKE) return (v_lead**2) / (2 * COMFORT_BRAKE)
def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW): def get_safe_obstacle_distance(v_ego, t_follow):
return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
def desired_follow_distance(v_ego, v_lead): def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()):
return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
def gen_long_model(): def gen_long_model():
@ -161,7 +181,8 @@ def gen_long_ocp():
x0 = np.zeros(X_DIM) x0 = np.zeros(X_DIM)
ocp.constraints.x0 = x0 ocp.constraints.x0 = x0
ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR]) ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR])
# We put all constraint cost weights to 0 and only set them at runtime # We put all constraint cost weights to 0 and only set them at runtime
cost_weights = np.zeros(CONSTR_DIM) cost_weights = np.zeros(CONSTR_DIM)
@ -249,10 +270,11 @@ class LongitudinalMpc:
for i in range(N): for i in range(N):
self.solver.cost_set(i, 'Zl', Zl) self.solver.cost_set(i, 'Zl', Zl)
def set_weights(self, prev_accel_constraint=True): def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
jerk_factor = get_jerk_factor(personality)
if self.mode == 'acc': if self.mode == 'acc':
a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
elif self.mode == 'blended': elif self.mode == 'blended':
a_change_cost = 40.0 if prev_accel_constraint else 0 a_change_cost = 40.0 if prev_accel_constraint else 0
@ -307,7 +329,8 @@ class LongitudinalMpc:
self.cruise_min_a = min_a self.cruise_min_a = min_a
self.max_a = max_a self.max_a = max_a
def update(self, radarstate, v_cruise, x, v, a, j): def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
t_follow = get_T_FOLLOW(personality)
v_ego = self.x0[1] v_ego = self.x0[1]
self.status = radarstate.leadOne.status or radarstate.leadTwo.status self.status = radarstate.leadOne.status or radarstate.leadTwo.status
@ -334,7 +357,7 @@ class LongitudinalMpc:
v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
v_lower, v_lower,
v_upper) v_upper)
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped) cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW())
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
self.source = SOURCES[np.argmin(x_obstacles[0])] self.source = SOURCES[np.argmin(x_obstacles[0])]
@ -368,7 +391,7 @@ class LongitudinalMpc:
self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,2] = np.min(x_obstacles, axis=1)
self.params[:,3] = np.copy(self.prev_a) self.params[:,3] = np.copy(self.prev_a)
self.params[:,4] = T_FOLLOW self.params[:,4] = t_follow
self.run() self.run()
if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
@ -380,9 +403,9 @@ class LongitudinalMpc:
# Check if it got within lead comfort range # Check if it got within lead comfort range
# TODO This should be done cleaner # TODO This should be done cleaner
if self.mode == 'blended': if self.mode == 'blended':
if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0): if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
self.source = 'lead0' self.source = 'lead0'
if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \ if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
(lead_1_obstacle[0] - lead_0_obstacle[0]): (lead_1_obstacle[0] - lead_0_obstacle[0]):
self.source = 'lead1' self.source = 'lead1'

20
selfdrive/controls/lib/longitudinal_planner.py
Unescape View File

@ -2,6 +2,8 @@
import math import math
import numpy as np import numpy as np
from common.numpy_fast import clip, interp from common.numpy_fast import clip, interp
from common.params import Params
from cereal import log
import cereal.messaging as messaging import cereal.messaging as messaging
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
@ -57,6 +59,16 @@ class LongitudinalPlanner:
self.a_desired_trajectory = np.zeros(CONTROL_N) self.a_desired_trajectory = np.zeros(CONTROL_N)
self.j_desired_trajectory = np.zeros(CONTROL_N) self.j_desired_trajectory = np.zeros(CONTROL_N)
self.solverExecutionTime = 0.0 self.solverExecutionTime = 0.0
self.params = Params()
self.param_read_counter = 0
self.read_param()
self.personality = log.LongitudinalPersonality.standard
def read_param(self):
try:
self.personality = int(self.params.get('LongitudinalPersonality'))
except (ValueError, TypeError):
self.personality = log.LongitudinalPersonality.standard
@staticmethod @staticmethod
def parse_model(model_msg, model_error): def parse_model(model_msg, model_error):
@ -75,6 +87,9 @@ class LongitudinalPlanner:
return x, v, a, j return x, v, a, j
def update(self, sm): def update(self, sm):
if self.param_read_counter % 50 == 0:
self.read_param()
self.param_read_counter += 1
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
v_ego = sm['carState'].vEgo v_ego = sm['carState'].vEgo
@ -114,11 +129,11 @@ class LongitudinalPlanner:
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
self.mpc.set_weights(prev_accel_constraint) self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j) self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
@ -154,5 +169,6 @@ class LongitudinalPlanner:
longitudinalPlan.fcw = self.fcw longitudinalPlan.fcw = self.fcw
longitudinalPlan.solverExecutionTime = self.mpc.solve_time longitudinalPlan.solverExecutionTime = self.mpc.solve_time
longitudinalPlan.personality = self.personality
pm.send('longitudinalPlan', plan_send) pm.send('longitudinalPlan', plan_send)

13
selfdrive/controls/lib/radar_helpers.py
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@ -130,15 +130,16 @@ class Cluster():
"aLeadTau": float(self.aLeadTau) "aLeadTau": float(self.aLeadTau)
} }
def get_RadarState_from_vision(self, lead_msg, v_ego): def get_RadarState_from_vision(self, lead_msg, v_ego, model_v_ego):
lead_v_rel_pred = lead_msg.v[0] - model_v_ego
return { return {
"dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
"yRel": float(-lead_msg.y[0]), "yRel": float(-lead_msg.y[0]),
"vRel": float(lead_msg.v[0] - v_ego), "vRel": float(lead_v_rel_pred),
"vLead": float(lead_msg.v[0]), "vLead": float(v_ego + lead_v_rel_pred),
"vLeadK": float(lead_msg.v[0]), "vLeadK": float(v_ego + lead_v_rel_pred),
"aLeadK": float(0), "aLeadK": 0.0,
"aLeadTau": _LEAD_ACCEL_TAU, "aLeadTau": 0.3,
"fcw": False, "fcw": False,
"modelProb": float(lead_msg.prob), "modelProb": float(lead_msg.prob),
"radar": False, "radar": False,

3
selfdrive/controls/lib/tests/test_latcontrol.py
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@ -10,14 +10,13 @@ from selfdrive.car.toyota.values import CAR as TOYOTA
from selfdrive.car.nissan.values import CAR as NISSAN from selfdrive.car.nissan.values import CAR as NISSAN
from selfdrive.controls.lib.latcontrol_pid import LatControlPID from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_torque import LatControlTorque from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.controls.lib.vehicle_model import VehicleModel
class TestLatControl(unittest.TestCase): class TestLatControl(unittest.TestCase):
@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)]) @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (NISSAN.LEAF, LatControlAngle)])
def test_saturation(self, car_name, controller): def test_saturation(self, car_name, controller):
CarInterface, CarController, CarState = interfaces[car_name] CarInterface, CarController, CarState = interfaces[car_name]
CP = CarInterface.get_non_essential_params(car_name) CP = CarInterface.get_non_essential_params(car_name)

12
selfdrive/controls/radard.py
Unescape View File

@ -64,7 +64,7 @@ def match_vision_to_cluster(v_ego, lead, clusters):
return None return None
def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): def get_lead(v_ego, ready, clusters, lead_msg, model_v_ego, low_speed_override=True):
# Determine leads, this is where the essential logic happens # Determine leads, this is where the essential logic happens
if len(clusters) > 0 and ready and lead_msg.prob > .5: if len(clusters) > 0 and ready and lead_msg.prob > .5:
cluster = match_vision_to_cluster(v_ego, lead_msg, clusters) cluster = match_vision_to_cluster(v_ego, lead_msg, clusters)
@ -75,7 +75,7 @@ def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True):
if cluster is not None: if cluster is not None:
lead_dict = cluster.get_RadarState(lead_msg.prob) lead_dict = cluster.get_RadarState(lead_msg.prob)
elif (cluster is None) and ready and (lead_msg.prob > .5): elif (cluster is None) and ready and (lead_msg.prob > .5):
lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego) lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
if low_speed_override: if low_speed_override:
low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)] low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)]
@ -168,10 +168,14 @@ class RadarD():
radarState.radarErrors = list(rr.errors) radarState.radarErrors = list(rr.errors)
radarState.carStateMonoTime = sm.logMonoTime['carState'] radarState.carStateMonoTime = sm.logMonoTime['carState']
if len(sm['modelV2'].temporalPose.trans):
model_v_ego = sm['modelV2'].temporalPose.trans[0]
else:
model_v_ego = self.v_ego
leads_v3 = sm['modelV2'].leadsV3 leads_v3 = sm['modelV2'].leadsV3
if len(leads_v3) > 1: if len(leads_v3) > 1:
radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], model_v_ego, low_speed_override=True)
radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], model_v_ego, low_speed_override=False)
return dat return dat

9
selfdrive/debug/count_events.py
Unescape View File

@ -23,6 +23,7 @@ if __name__ == "__main__":
alerts: List[Tuple[float, str]] = [] alerts: List[Tuple[float, str]] = []
start_time = math.inf start_time = math.inf
end_time = -math.inf end_time = -math.inf
ignition_off = None
for q in tqdm(r.qlog_paths()): for q in tqdm(r.qlog_paths()):
if q is None: if q is None:
continue continue
@ -38,6 +39,11 @@ if __name__ == "__main__":
if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType: if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:
t = (msg.logMonoTime - start_time) / 1e9 t = (msg.logMonoTime - start_time) / 1e9
alerts.append((t, msg.controlsState.alertType)) alerts.append((t, msg.controlsState.alertType))
elif msg.which() == 'pandaStates':
if ignition_off is None:
ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
if not ign:
ignition_off = msg.logMonoTime
elif msg.which() in cams: elif msg.which() in cams:
cnt_cameras[msg.which()] += 1 cnt_cameras[msg.which()] += 1
@ -64,6 +70,9 @@ if __name__ == "__main__":
print("Alerts") print("Alerts")
for t, a in alerts: for t, a in alerts:
print(f"{t:8.2f} {a}") print(f"{t:8.2f} {a}")
if ignition_off is not None:
ignition_off = round((ignition_off - start_time) / 1e9, 2)
print("Ignition off at", ignition_off)
print("\n") print("\n")
print("Route duration", datetime.timedelta(seconds=duration)) print("Route duration", datetime.timedelta(seconds=duration))

2
selfdrive/debug/run_process_on_route.py
Unescape View File

@ -2,10 +2,10 @@
import argparse import argparse
from selfdrive.test.process_replay.compare_logs import save_log
from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
from tools.lib.logreader import MultiLogIterator from tools.lib.logreader import MultiLogIterator
from tools.lib.route import Route from tools.lib.route import Route
from tools.lib.helpers import save_log
if __name__ == "__main__": if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Run process on route and create new logs", parser = argparse.ArgumentParser(description="Run process on route and create new logs",

51
selfdrive/locationd/calibrationd.py
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@ -24,6 +24,8 @@ MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
MAX_VEL_ANGLE_STD = np.radians(0.25) MAX_VEL_ANGLE_STD = np.radians(0.25)
MAX_YAW_RATE_FILTER = np.radians(2) # per second MAX_YAW_RATE_FILTER = np.radians(2) # per second
MAX_HEIGHT_STD = np.exp(-3.5)
# This is at model frequency, blocks needed for efficiency # This is at model frequency, blocks needed for efficiency
SMOOTH_CYCLES = 10 SMOOTH_CYCLES = 10
BLOCK_SIZE = 100 BLOCK_SIZE = 100
@ -32,6 +34,7 @@ INPUTS_WANTED = 50 # We want a little bit more than we need for stability
MAX_ALLOWED_SPREAD = np.radians(2) MAX_ALLOWED_SPREAD = np.radians(2)
RPY_INIT = np.array([0.0,0.0,0.0]) RPY_INIT = np.array([0.0,0.0,0.0])
WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
HEIGHT_INIT = np.array([1.22])
# These values are needed to accommodate the model frame in the narrow cam of the C3 # These values are needed to accommodate the model frame in the narrow cam of the C3
PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
@ -50,6 +53,8 @@ def sanity_clip(rpy: np.ndarray) -> np.ndarray:
np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005), np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005),
np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)]) np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)])
def moving_avg_with_linear_decay(prev_mean: np.ndarray, new_val: np.ndarray, idx: int, block_size: float) -> np.ndarray:
return (idx*prev_mean + (block_size - idx) * new_val) / block_size
class Calibrator: class Calibrator:
def __init__(self, param_put: bool = False): def __init__(self, param_put: bool = False):
@ -62,6 +67,7 @@ class Calibrator:
calibration_params = params.get("CalibrationParams") calibration_params = params.get("CalibrationParams")
rpy_init = RPY_INIT rpy_init = RPY_INIT
wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
height = HEIGHT_INIT
valid_blocks = 0 valid_blocks = 0
self.cal_status = log.LiveCalibrationData.Status.uncalibrated self.cal_status = log.LiveCalibrationData.Status.uncalibrated
@ -71,21 +77,28 @@ class Calibrator:
rpy_init = np.array(msg.liveCalibration.rpyCalib) rpy_init = np.array(msg.liveCalibration.rpyCalib)
valid_blocks = msg.liveCalibration.validBlocks valid_blocks = msg.liveCalibration.validBlocks
wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
height = np.array(msg.liveCalibration.height)
except Exception: except Exception:
cloudlog.exception("Error reading cached CalibrationParams") cloudlog.exception("Error reading cached CalibrationParams")
self.reset(rpy_init, valid_blocks, wide_from_device_euler) self.reset(rpy_init, valid_blocks, wide_from_device_euler, height)
self.update_status() self.update_status()
def reset(self, rpy_init: np.ndarray = RPY_INIT, def reset(self, rpy_init: np.ndarray = RPY_INIT,
valid_blocks: int = 0, valid_blocks: int = 0,
wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
height_init: np.ndarray = HEIGHT_INIT,
smooth_from: Optional[np.ndarray] = None) -> None: smooth_from: Optional[np.ndarray] = None) -> None:
if not np.isfinite(rpy_init).all(): if not np.isfinite(rpy_init).all():
self.rpy = RPY_INIT.copy() self.rpy = RPY_INIT.copy()
else: else:
self.rpy = rpy_init.copy() self.rpy = rpy_init.copy()
if not np.isfinite(height_init).all() or len(height_init) != 1:
self.height = HEIGHT_INIT.copy()
else:
self.height = height_init.copy()
if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3: if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3:
self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy()
else: else:
@ -98,6 +111,7 @@ class Calibrator:
self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1)) self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1))
self.heights = np.tile(self.height, (INPUTS_WANTED, 1))
self.idx = 0 self.idx = 0
self.block_idx = 0 self.block_idx = 0
@ -120,6 +134,7 @@ class Calibrator:
valid_idxs = self.get_valid_idxs() valid_idxs = self.get_valid_idxs()
if valid_idxs: if valid_idxs:
self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0) self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0)
self.height = np.mean(self.heights[valid_idxs], axis=0)
rpys = self.rpys[valid_idxs] rpys = self.rpys[valid_idxs]
self.rpy = np.mean(rpys, axis=0) self.rpy = np.mean(rpys, axis=0)
max_rpy_calib = np.array(np.max(rpys, axis=0)) max_rpy_calib = np.array(np.max(rpys, axis=0))
@ -140,6 +155,7 @@ class Calibrator:
# If spread is too high, assume mounting was changed and reset to last block. # If spread is too high, assume mounting was changed and reset to last block.
# Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
# TODO: add height spread check with smooth transition too
if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated: if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated:
self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy) self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
self.cal_status = log.LiveCalibrationData.Status.recalibrating self.cal_status = log.LiveCalibrationData.Status.recalibrating
@ -160,13 +176,21 @@ class Calibrator:
def handle_cam_odom(self, trans: List[float], def handle_cam_odom(self, trans: List[float],
rot: List[float], rot: List[float],
wide_from_device_euler: List[float], wide_from_device_euler: List[float],
trans_std: List[float]) -> Optional[np.ndarray]: trans_std: List[float],
road_transform_trans: List[float],
road_transform_trans_std: List[float]) -> Optional[np.ndarray]:
self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
angle_std_threshold = MAX_VEL_ANGLE_STD angle_std_threshold = MAX_VEL_ANGLE_STD
certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or height_std_threshold = MAX_HEIGHT_STD
(self.valid_blocks < INPUTS_NEEDED)) rpy_certain = np.arctan2(trans_std[1], trans[0]) < angle_std_threshold
if len(road_transform_trans_std) == 3:
height_certain = road_transform_trans_std[2] < height_std_threshold
else:
height_certain = True
certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < INPUTS_NEEDED)
if not (straight_and_fast and certain_if_calib): if not (straight_and_fast and certain_if_calib):
return None return None
@ -180,10 +204,16 @@ class Calibrator:
new_wide_from_device_euler = np.array(wide_from_device_euler) new_wide_from_device_euler = np.array(wide_from_device_euler)
else: else:
new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] +
(BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) if (len(road_transform_trans) == 3):
self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + new_height = np.array([road_transform_trans[2]])
(BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) else:
new_height = HEIGHT_INIT
self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE))
self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE))
self.idx = (self.idx + 1) % BLOCK_SIZE self.idx = (self.idx + 1) % BLOCK_SIZE
if self.idx == 0: if self.idx == 0:
self.block_idx += 1 self.block_idx += 1
@ -206,6 +236,7 @@ class Calibrator:
liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalib = smooth_rpy.tolist()
liveCalibration.rpyCalibSpread = self.calib_spread.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
liveCalibration.height = self.height.tolist()
if self.not_car: if self.not_car:
liveCalibration.validBlocks = INPUTS_NEEDED liveCalibration.validBlocks = INPUTS_NEEDED
@ -243,7 +274,9 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
sm['cameraOdometry'].rot, sm['cameraOdometry'].rot,
sm['cameraOdometry'].wideFromDeviceEuler, sm['cameraOdometry'].wideFromDeviceEuler,
sm['cameraOdometry'].transStd) sm['cameraOdometry'].transStd,
sm['cameraOdometry'].roadTransformTrans,
sm['cameraOdometry'].roadTransformTransStd)
if DEBUG and new_rpy is not None: if DEBUG and new_rpy is not None:
print('got new rpy', new_rpy) print('got new rpy', new_rpy)

2
selfdrive/locationd/laikad.py
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@ -192,9 +192,9 @@ class Laikad:
def is_good_report(self, gnss_msg): def is_good_report(self, gnss_msg):
if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
# TODO: Understand and use remaining unknown constellations # TODO: Understand and use remaining unknown constellations
try: try:
constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
except NotImplementedError: except NotImplementedError:
good_constellation = False good_constellation = False

5
selfdrive/locationd/locationd.cc
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@ -35,6 +35,8 @@ const float GPS_VEL_STD_RESET_THRESHOLD = 0.5;
const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0;
const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; const int GPS_ORIENTATION_ERROR_RESET_CNT = 3;
const bool DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) { static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
VectorXd res(floatlist.size()); VectorXd res(floatlist.size());
for (int i = 0; i < floatlist.size(); i++) { for (int i = 0; i < floatlist.size(); i++) {
@ -161,6 +163,9 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated); init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated); init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated); init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
if (DEBUG) {
init_measurement(fix.initFilterState(), predicted_state, predicted_std, true);
}
double old_mean = 0.0, new_mean = 0.0; double old_mean = 0.0, new_mean = 0.0;
int i = 0; int i = 0;

50
selfdrive/locationd/test/test_calibrationd.py
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@ -7,7 +7,7 @@ import numpy as np
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal import log from cereal import log
from common.params import Params from common.params import Params
from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
class TestCalibrationd(unittest.TestCase): class TestCalibrationd(unittest.TestCase):
@ -16,10 +16,12 @@ class TestCalibrationd(unittest.TestCase):
msg = messaging.new_message('liveCalibration') msg = messaging.new_message('liveCalibration')
msg.liveCalibration.validBlocks = random.randint(1, 10) msg.liveCalibration.validBlocks = random.randint(1, 10)
msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)] msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
msg.liveCalibration.height = [random.random() for _ in range(1)]
Params().put("CalibrationParams", msg.to_bytes()) Params().put("CalibrationParams", msg.to_bytes())
c = Calibrator(param_put=True) c = Calibrator(param_put=True)
np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy) np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
np.testing.assert_allclose(msg.liveCalibration.height, c.height)
self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks) self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)
@ -27,51 +29,79 @@ class TestCalibrationd(unittest.TestCase):
c = Calibrator(param_put=False) c = Calibrator(param_put=False)
for _ in range(BLOCK_SIZE * INPUTS_WANTED): for _ in range(BLOCK_SIZE * INPUTS_WANTED):
c.handle_v_ego(MIN_SPEED_FILTER + 1) c.handle_v_ego(MIN_SPEED_FILTER + 1)
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[1e-3, 1e-3, 1e-3],
[0.0, 0.0, HEIGHT_INIT.item()],
[1e-3, 1e-3, 1e-3]) [1e-3, 1e-3, 1e-3])
self.assertEqual(c.valid_blocks, INPUTS_WANTED) self.assertEqual(c.valid_blocks, INPUTS_WANTED)
np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.rpy, np.zeros(3))
np.testing.assert_allclose(c.height, HEIGHT_INIT)
c.reset() c.reset()
def test_calibration_low_speed_reject(self): def test_calibration_low_speed_reject(self):
c = Calibrator(param_put=False) c = Calibrator(param_put=False)
for _ in range(BLOCK_SIZE * INPUTS_WANTED): for _ in range(BLOCK_SIZE * INPUTS_WANTED):
c.handle_v_ego(MIN_SPEED_FILTER - 1) c.handle_v_ego(MIN_SPEED_FILTER - 1)
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[1e-3, 1e-3, 1e-3],
[0.0, 0.0, HEIGHT_INIT.item()],
[1e-3, 1e-3, 1e-3]) [1e-3, 1e-3, 1e-3])
for _ in range(BLOCK_SIZE * INPUTS_WANTED): for _ in range(BLOCK_SIZE * INPUTS_WANTED):
c.handle_v_ego(MIN_SPEED_FILTER + 1) c.handle_v_ego(MIN_SPEED_FILTER + 1)
c. handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0], c.handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[1e-3, 1e-3, 1e-3],
[0.0, 0.0, HEIGHT_INIT.item()],
[1e-3, 1e-3, 1e-3]) [1e-3, 1e-3, 1e-3])
self.assertEqual(c.valid_blocks, 0) self.assertEqual(c.valid_blocks, 0)
np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.rpy, np.zeros(3))
np.testing.assert_allclose(c.height, HEIGHT_INIT)
def test_calibration_yaw_rate_reject(self): def test_calibration_yaw_rate_reject(self):
c = Calibrator(param_put=False) c = Calibrator(param_put=False)
for _ in range(BLOCK_SIZE * INPUTS_WANTED): for _ in range(BLOCK_SIZE * INPUTS_WANTED):
c.handle_v_ego(MIN_SPEED_FILTER + 1) c.handle_v_ego(MIN_SPEED_FILTER + 1)
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
[0.0, 0.0, MAX_YAW_RATE_FILTER ], [0.0, 0.0, MAX_YAW_RATE_FILTER ],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[1e-3, 1e-3, 1e-3],
[0.0, 0.0, HEIGHT_INIT.item()],
[1e-3, 1e-3, 1e-3]) [1e-3, 1e-3, 1e-3])
self.assertEqual(c.valid_blocks, 0) self.assertEqual(c.valid_blocks, 0)
np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.rpy, np.zeros(3))
np.testing.assert_allclose(c.height, HEIGHT_INIT)
def test_calibration_speed_std_reject(self): def test_calibration_speed_std_reject(self):
c = Calibrator(param_put=False) c = Calibrator(param_put=False)
for _ in range(BLOCK_SIZE * INPUTS_WANTED): for _ in range(BLOCK_SIZE * INPUTS_WANTED):
c.handle_v_ego(MIN_SPEED_FILTER + 1) c.handle_v_ego(MIN_SPEED_FILTER + 1)
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
[0.0, 0.0, 0.0],
[0.0, 0.0, 0.0],
[1e3, 1e3, 1e3],
[0.0, 0.0, HEIGHT_INIT.item()],
[1e-3, 1e-3, 1e-3])
self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
np.testing.assert_allclose(c.rpy, np.zeros(3))
def test_calibration_speed_std_height_reject(self):
c = Calibrator(param_put=False)
for _ in range(BLOCK_SIZE * INPUTS_WANTED):
c.handle_v_ego(MIN_SPEED_FILTER + 1)
c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[1e-3, 1e-3, 1e-3],
[0.0, 0.0, HEIGHT_INIT.item()],
[1e3, 1e3, 1e3]) [1e3, 1e3, 1e3])
self.assertEqual(c.valid_blocks, INPUTS_NEEDED) self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.rpy, np.zeros(3))
@ -81,9 +111,11 @@ class TestCalibrationd(unittest.TestCase):
c = Calibrator(param_put=False) c = Calibrator(param_put=False)
for _ in range(BLOCK_SIZE * INPUTS_WANTED): for _ in range(BLOCK_SIZE * INPUTS_WANTED):
c.handle_v_ego(MIN_SPEED_FILTER + 1) c.handle_v_ego(MIN_SPEED_FILTER + 1)
c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[1e-3, 1e-3, 1e-3],
[0.0, 0.0, HEIGHT_INIT.item()],
[1e-3, 1e-3, 1e-3]) [1e-3, 1e-3, 1e-3])
self.assertEqual(c.valid_blocks, INPUTS_WANTED) self.assertEqual(c.valid_blocks, INPUTS_WANTED)
np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
@ -95,6 +127,8 @@ class TestCalibrationd(unittest.TestCase):
c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0], c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0], [0.0, 0.0, 0.0],
[1e-3, 1e-3, 1e-3],
[0.0, 0.0, HEIGHT_INIT.item()],
[1e-3, 1e-3, 1e-3]) [1e-3, 1e-3, 1e-3])
self.assertEqual(c.valid_blocks, 1) self.assertEqual(c.valid_blocks, 1)
self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating) self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)

2
selfdrive/manager/manager.py
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@ -7,6 +7,7 @@ import sys
import traceback import traceback
from typing import List, Tuple, Union from typing import List, Tuple, Union
from cereal import log
import cereal.messaging as messaging import cereal.messaging as messaging
import selfdrive.sentry as sentry import selfdrive.sentry as sentry
from common.basedir import BASEDIR from common.basedir import BASEDIR
@ -44,6 +45,7 @@ def manager_init() -> None:
("HasAcceptedTerms", "0"), ("HasAcceptedTerms", "0"),
("LanguageSetting", "main_en"), ("LanguageSetting", "main_en"),
("OpenpilotEnabledToggle", "1"), ("OpenpilotEnabledToggle", "1"),
("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
] ]
if not PC: if not PC:
default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))

10
selfdrive/manager/process.py
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@ -91,7 +91,7 @@ class ManagerProcess(ABC):
pass pass
def restart(self) -> None: def restart(self) -> None:
self.stop() self.stop(sig=signal.SIGKILL)
self.start() self.start()
def check_watchdog(self, started: bool) -> None: def check_watchdog(self, started: bool) -> None:
@ -108,21 +108,21 @@ class ManagerProcess(ABC):
dt = sec_since_boot() - self.last_watchdog_time / 1e9 dt = sec_since_boot() - self.last_watchdog_time / 1e9
if dt > self.watchdog_max_dt: if dt > self.watchdog_max_dt:
# Only restart while offroad for now
if self.watchdog_seen and ENABLE_WATCHDOG: if self.watchdog_seen and ENABLE_WATCHDOG:
cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})") cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
self.restart() self.restart()
else: else:
self.watchdog_seen = True self.watchdog_seen = True
def stop(self, retry: bool=True, block: bool=True) -> Optional[int]: def stop(self, retry: bool = True, block: bool = True, sig: Optional[signal.Signals] = None) -> Optional[int]:
if self.proc is None: if self.proc is None:
return None return None
if self.proc.exitcode is None: if self.proc.exitcode is None:
if not self.shutting_down: if not self.shutting_down:
cloudlog.info(f"killing {self.name}") cloudlog.info(f"killing {self.name}")
sig = signal.SIGKILL if self.sigkill else signal.SIGINT if sig is None:
sig = signal.SIGKILL if self.sigkill else signal.SIGINT
self.signal(sig) self.signal(sig)
self.shutting_down = True self.shutting_down = True
@ -285,7 +285,7 @@ class DaemonProcess(ManagerProcess):
params.put(self.param_name, str(proc.pid)) params.put(self.param_name, str(proc.pid))
def stop(self, retry=True, block=True) -> None: def stop(self, retry=True, block=True, sig=None) -> None:
pass pass

2
selfdrive/manager/process_config.py
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@ -47,7 +47,7 @@ procs = [
NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),

17
selfdrive/modeld/modeld.cc
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@ -179,9 +179,6 @@ int main(int argc, char **argv) {
assert(ret == 0); assert(ret == 0);
} }
bool main_wide_camera = Params().getBool("WideCameraOnly");
bool use_extra_client = !main_wide_camera; // set for single camera mode
// cl init // cl init
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
@ -191,8 +188,22 @@ int main(int argc, char **argv) {
model_init(&model, device_id, context); model_init(&model, device_id, context);
LOGW("models loaded, modeld starting"); LOGW("models loaded, modeld starting");
bool main_wide_camera = false;
bool use_extra_client = true; // set to false to use single camera
while (!do_exit) {
auto streams = VisionIpcClient::getAvailableStreams("camerad", false);
if (!streams.empty()) {
use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0;
main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0;
break;
}
util::sleep_for(100);
}
VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context); VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context);
VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context); VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context);
LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client);
while (!do_exit && !vipc_client_main.connect(false)) { while (!do_exit && !vipc_client_main.connect(false)) {
util::sleep_for(100); util::sleep_for(100);

5
selfdrive/modeld/models/driving.cc
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@ -390,15 +390,18 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe
const auto &v_std = net_outputs.pose.velocity_std; const auto &v_std = net_outputs.pose.velocity_std;
const auto &r_std = net_outputs.pose.rotation_std; const auto &r_std = net_outputs.pose.rotation_std;
const auto &t_std = net_outputs.wide_from_device_euler.std; const auto &t_std = net_outputs.wide_from_device_euler.std;
const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean;
const auto &road_transform_trans_std = net_outputs.road_transform.position_std;
auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry();
posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z});
posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); posenetd.setRot({r_mean.x, r_mean.y, r_mean.z});
posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z});
posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z});
posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)});
posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)});
posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)});
posenetd.setTimestampEof(timestamp_eof); posenetd.setTimestampEof(timestamp_eof);
posenetd.setFrameId(vipc_frame_id); posenetd.setFrameId(vipc_frame_id);

9
selfdrive/modeld/models/driving.h
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@ -178,6 +178,14 @@ struct ModelOutputTemporalPose {
}; };
static_assert(sizeof(ModelOutputTemporalPose) == sizeof(ModelOutputXYZ)*4); static_assert(sizeof(ModelOutputTemporalPose) == sizeof(ModelOutputXYZ)*4);
struct ModelOutputRoadTransform {
ModelOutputXYZ position_mean;
ModelOutputXYZ rotation_mean;
ModelOutputXYZ position_std;
ModelOutputXYZ rotation_std;
};
static_assert(sizeof(ModelOutputRoadTransform) == sizeof(ModelOutputXYZ)*4);
struct ModelOutputDisengageProb { struct ModelOutputDisengageProb {
float gas_disengage; float gas_disengage;
float brake_disengage; float brake_disengage;
@ -237,6 +245,7 @@ struct ModelOutput {
const ModelOutputPose pose; const ModelOutputPose pose;
const ModelOutputWideFromDeviceEuler wide_from_device_euler; const ModelOutputWideFromDeviceEuler wide_from_device_euler;
const ModelOutputTemporalPose temporal_pose; const ModelOutputTemporalPose temporal_pose;
const ModelOutputRoadTransform road_transform;
}; };
constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);

4
selfdrive/modeld/models/supercombo.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1 version https://git-lfs.github.com/spec/v1
oid sha256:b8bf95f096b19cef1e473fb4f0caf5f727b74bbde23a642aa586036ad9824e55 oid sha256:4aa77af40335462062c6eb06632bb84cbc8e5c9e3ad759f66862711620e2a840
size 46076782 size 46117948

28
selfdrive/modeld/thneed/thneed_qcom2.cc
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@ -43,7 +43,7 @@ int ioctl(int filedes, unsigned long request, void *argp) {
if (request == IOCTL_KGSL_DRAWCTXT_CREATE) { if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp; struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK; create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority
printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags); printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
} }
@ -238,24 +238,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) {
// ****** copy inputs // ****** copy inputs
copy_inputs(finputs, true); copy_inputs(finputs, true);
// ****** set power constraint
int ret;
struct kgsl_device_constraint_pwrlevel pwrlevel;
pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX;
struct kgsl_device_constraint constraint;
constraint.type = KGSL_CONSTRAINT_PWRLEVEL;
constraint.context_id = context_id;
constraint.data = (void*)&pwrlevel;
constraint.size = sizeof(pwrlevel);
struct kgsl_device_getproperty prop;
prop.type = KGSL_PROP_PWR_CONSTRAINT;
prop.value = (void*)&constraint;
prop.sizebytes = sizeof(constraint);
ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop);
assert(ret == 0);
// ****** run commands // ****** run commands
int i = 0; int i = 0;
for (auto &it : cmds) { for (auto &it : cmds) {
@ -268,14 +250,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) {
// ****** copy outputs // ****** copy outputs
copy_output(foutput); copy_output(foutput);
// ****** unset power constraint
constraint.type = KGSL_CONSTRAINT_NONE;
constraint.data = NULL;
constraint.size = 0;
ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop);
assert(ret == 0);
if (debug >= 1) { if (debug >= 1) {
te = nanos_since_boot(); te = nanos_since_boot();
printf("model exec in %lu us\n", (te-tb)/1000); printf("model exec in %lu us\n", (te-tb)/1000);

1
selfdrive/test/helpers.py
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@ -12,7 +12,6 @@ from system.version import training_version, terms_version
def set_params_enabled(): def set_params_enabled():
os.environ['PASSIVE'] = "0" os.environ['PASSIVE'] = "0"
os.environ['REPLAY'] = "1" os.environ['REPLAY'] = "1"
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
os.environ['LOGPRINT'] = "debug" os.environ['LOGPRINT'] = "debug"

20
selfdrive/test/openpilotci.py
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@ -11,10 +11,7 @@ def get_url(route_name, segment_num, log_type="rlog"):
ext = "hevc" if log_type.endswith('camera') else "bz2" ext = "hevc" if log_type.endswith('camera') else "bz2"
return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}"
def get_sas_token():
def upload_file(path, name):
from azure.storage.blob import BlockBlobService # pylint: disable=import-error
sas_token = os.environ.get("AZURE_TOKEN", None) sas_token = os.environ.get("AZURE_TOKEN", None)
if os.path.isfile(TOKEN_PATH): if os.path.isfile(TOKEN_PATH):
sas_token = open(TOKEN_PATH).read().strip() sas_token = open(TOKEN_PATH).read().strip()
@ -22,9 +19,20 @@ def upload_file(path, name):
if sas_token is None: if sas_token is None:
sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \ sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \
--expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n") --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
service = BlockBlobService(account_name="commadataci", sas_token=sas_token)
return sas_token
def upload_bytes(data, name):
from azure.storage.blob import BlockBlobService # pylint: disable=import-error
service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token())
service.create_blob_from_bytes("openpilotci", name, data)
return BASE_URL + name
def upload_file(path, name):
from azure.storage.blob import BlockBlobService # pylint: disable=import-error
service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token())
service.create_blob_from_path("openpilotci", name, path) service.create_blob_from_path("openpilotci", name, path)
return "https://commadataci.blob.core.windows.net/openpilotci/" + name return BASE_URL + name
if __name__ == "__main__": if __name__ == "__main__":

1
selfdrive/test/process_replay/__init__.py
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@ -0,0 +1 @@
from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, replay_process, replay_process_with_name # noqa: F401

11
selfdrive/test/process_replay/compare_logs.py
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@ -1,5 +1,4 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import bz2
import sys import sys
import math import math
import capnp import capnp
@ -12,16 +11,6 @@ from tools.lib.logreader import LogReader
EPSILON = sys.float_info.epsilon EPSILON = sys.float_info.epsilon
def save_log(dest, log_msgs, compress=True):
dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
if compress:
dat = bz2.compress(dat)
with open(dest, "wb") as f:
f.write(dat)
def remove_ignored_fields(msg, ignore): def remove_ignored_fields(msg, ignore):
msg = msg.as_builder() msg = msg.as_builder()
for key in ignore: for key in ignore:

65
selfdrive/test/process_replay/migration.py
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@ -0,0 +1,65 @@
from cereal import messaging
def migrate_all(lr, old_logtime=False):
msgs = migrate_sensorEvents(lr, old_logtime)
msgs = migrate_carParams(msgs, old_logtime)
return msgs
def migrate_carParams(lr, old_logtime=False):
all_msgs = []
for msg in lr:
if msg.which() == 'carParams':
CP = messaging.new_message('carParams')
CP.carParams = msg.carParams.as_builder()
for car_fw in CP.carParams.carFw:
car_fw.brand = CP.carParams.carName
if old_logtime:
CP.logMonoTime = msg.logMonoTime
msg = CP.as_reader()
all_msgs.append(msg)
return all_msgs
def migrate_sensorEvents(lr, old_logtime=False):
all_msgs = []
for msg in lr:
if msg.which() != 'sensorEventsDEPRECATED':
all_msgs.append(msg)
continue
# migrate to split sensor events
for evt in msg.sensorEventsDEPRECATED:
# build new message for each sensor type
sensor_service = ''
if evt.which() == 'acceleration':
sensor_service = 'accelerometer'
elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
sensor_service = 'gyroscope'
elif evt.which() == 'light' or evt.which() == 'proximity':
sensor_service = 'lightSensor'
elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
sensor_service = 'magnetometer'
elif evt.which() == 'temperature':
sensor_service = 'temperatureSensor'
m = messaging.new_message(sensor_service)
m.valid = True
if old_logtime:
m.logMonoTime = msg.logMonoTime
m_dat = getattr(m, sensor_service)
m_dat.version = evt.version
m_dat.sensor = evt.sensor
m_dat.type = evt.type
m_dat.source = evt.source
if old_logtime:
m_dat.timestamp = evt.timestamp
setattr(m_dat, evt.which(), getattr(evt, evt.which()))
all_msgs.append(m.as_reader())
return all_msgs

30
selfdrive/test/process_replay/model_replay.py
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@ -14,18 +14,19 @@ from common.transformations.camera import tici_f_frame_size, tici_d_frame_size
from system.hardware import PC from system.hardware import PC
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
from selfdrive.test.openpilotci import BASE_URL, get_url from selfdrive.test.openpilotci import BASE_URL, get_url
from selfdrive.test.process_replay.compare_logs import compare_logs, save_log from selfdrive.test.process_replay.compare_logs import compare_logs
from selfdrive.test.process_replay.test_processes import format_diff from selfdrive.test.process_replay.test_processes import format_diff
from system.version import get_commit from system.version import get_commit
from tools.lib.framereader import FrameReader from tools.lib.framereader import FrameReader
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader
from tools.lib.helpers import save_log
TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
SEGMENT = 6 SEGMENT = 6
MAX_FRAMES = 100 if PC else 600 MAX_FRAMES = 100 if PC else 600
NAV_FRAMES = 50 NAV_FRAMES = 50
NO_NAV = "NO_NAV" in os.environ # TODO: make map renderer work in CI NO_NAV = "NO_NAV" in os.environ
SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER, VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
@ -209,6 +210,31 @@ if __name__ == "__main__":
'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True) 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
} }
# Update tile refs
if update:
import urllib
import requests
import threading
import http.server
from selfdrive.test.openpilotci import upload_bytes
os.environ['MAPS_HOST'] = 'http://localhost:5000'
class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
def do_GET(self):
assert len(self.path) > 10 # Sanity check on path length
r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
self.send_response(r.status_code)
self.send_header('Content-type','text/html')
self.end_headers()
self.wfile.write(r.content)
server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
thread = threading.Thread(None, server.serve_forever, daemon=True)
thread.start()
else:
os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
# run replays # run replays
log_msgs = model_replay(lr, frs) log_msgs = model_replay(lr, frs)
if not NO_NAV: if not NO_NAV:

2
selfdrive/test/process_replay/model_replay_ref_commit
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@ -1 +1 @@
e3cf1856830902bede2d1c9ca3d0d60e5504ae20 69270554b3c3ae574b9f357f2473395edf7db8af

59
selfdrive/test/process_replay/process_replay.py
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@ -2,9 +2,11 @@
import os import os
import time import time
import signal import signal
import platform
from collections import OrderedDict from collections import OrderedDict
from dataclasses import dataclass, field from dataclasses import dataclass, field
from typing import Dict, List, Optional, Callable from typing import Dict, List, Optional, Callable
from tqdm import tqdm
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal import car from cereal import car
@ -16,6 +18,7 @@ from panda.python import ALTERNATIVE_EXPERIENCE
from selfdrive.car.car_helpers import get_car, interfaces from selfdrive.car.car_helpers import get_car, interfaces
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
from selfdrive.test.process_replay.helpers import OpenpilotPrefix from selfdrive.test.process_replay.helpers import OpenpilotPrefix
from selfdrive.test.process_replay.migration import migrate_all
# Numpy gives different results based on CPU features after version 19 # Numpy gives different results based on CPU features after version 19
NUMPY_TOLERANCE = 1e-7 NUMPY_TOLERANCE = 1e-7
@ -76,9 +79,9 @@ class ReplayContext:
def wait_for_recv_called(self): def wait_for_recv_called(self):
messaging.wait_for_one_event(self.all_recv_called_events) messaging.wait_for_one_event(self.all_recv_called_events)
def wait_for_next_recv(self, end_of_cycle): def wait_for_next_recv(self, trigger_empty_recv):
index = messaging.wait_for_one_event(self.all_recv_called_events) index = messaging.wait_for_one_event(self.all_recv_called_events)
if self.drained_pub is not None and end_of_cycle: if self.drained_pub is not None and trigger_empty_recv:
self.all_recv_called_events[index].clear() self.all_recv_called_events[index].clear()
self.all_recv_ready_events[index].set() self.all_recv_ready_events[index].set()
self.all_recv_called_events[index].wait() self.all_recv_called_events[index].wait()
@ -146,6 +149,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
sendcan = DummySocket() sendcan = DummySocket()
canmsgs = [msg for msg in msgs if msg.which() == "can"] canmsgs = [msg for msg in msgs if msg.which() == "can"]
assert len(canmsgs) != 0, "CAN messages are required for carParams initialization"
for m in canmsgs[:300]: for m in canmsgs[:300]:
can.send(m.as_builder().to_bytes()) can.send(m.as_builder().to_bytes())
_, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
@ -255,7 +260,7 @@ CONFIGS = [
subs=["liveCalibration"], subs=["liveCalibration"],
ignore=["logMonoTime", "valid"], ignore=["logMonoTime", "valid"],
config_callback=None, config_callback=None,
init_callback=get_car_params_callback, init_callback=None,
should_recv_callback=calibration_rcv_callback, should_recv_callback=calibration_rcv_callback,
), ),
ProcessConfig( ProcessConfig(
@ -264,7 +269,7 @@ CONFIGS = [
subs=["driverMonitoringState"], subs=["driverMonitoringState"],
ignore=["logMonoTime", "valid"], ignore=["logMonoTime", "valid"],
config_callback=None, config_callback=None,
init_callback=get_car_params_callback, init_callback=None,
should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"), should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
), ),
@ -277,7 +282,7 @@ CONFIGS = [
subs=["liveLocationKalman"], subs=["liveLocationKalman"],
ignore=["logMonoTime", "valid"], ignore=["logMonoTime", "valid"],
config_callback=locationd_config_pubsub_callback, config_callback=locationd_config_pubsub_callback,
init_callback=get_car_params_callback, init_callback=None,
should_recv_callback=None, should_recv_callback=None,
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
), ),
@ -306,7 +311,7 @@ CONFIGS = [
subs=["gnssMeasurements"], subs=["gnssMeasurements"],
ignore=["logMonoTime"], ignore=["logMonoTime"],
config_callback=laikad_config_pubsub_callback, config_callback=laikad_config_pubsub_callback,
init_callback=get_car_params_callback, init_callback=None,
should_recv_callback=None, should_recv_callback=None,
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
timeout=60*10, # first messages are blocked on internet assistance timeout=60*10, # first messages are blocked on internet assistance
@ -332,7 +337,28 @@ def get_process_config(name):
raise Exception(f"Cannot find process config with name: {name}") from ex raise Exception(f"Cannot find process config with name: {name}") from ex
def replay_process(cfg, lr, fingerprint=None): def replay_process_with_name(name, lr, *args, **kwargs):
cfg = get_process_config(name)
return replay_process(cfg, lr, *args, **kwargs)
def replay_process(cfg, lr, fingerprint=None, return_all_logs=False, disable_progress=False):
all_msgs = migrate_all(lr, old_logtime=True)
process_logs = _replay_single_process(cfg, all_msgs, fingerprint, disable_progress)
if return_all_logs:
keys = set(cfg.subs)
modified_logs = [m for m in all_msgs if m.which() not in keys]
modified_logs.extend(process_logs)
modified_logs.sort(key=lambda m: m.logMonoTime)
log_msgs = modified_logs
else:
log_msgs = process_logs
return log_msgs
def _replay_single_process(cfg, lr, fingerprint, disable_progress):
with OpenpilotPrefix(): with OpenpilotPrefix():
controlsState = None controlsState = None
initialized = False initialized = False
@ -380,7 +406,7 @@ def replay_process(cfg, lr, fingerprint=None):
# Do the replay # Do the replay
cnt = 0 cnt = 0
for msg in pub_msgs: for msg in tqdm(pub_msgs, disable=disable_progress):
with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"): with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
resp_sockets, end_of_cycle = cfg.subs, True resp_sockets, end_of_cycle = cfg.subs, True
if cfg.should_recv_callback is not None: if cfg.should_recv_callback is not None:
@ -395,12 +421,17 @@ def replay_process(cfg, lr, fingerprint=None):
for s in sockets.values(): for s in sockets.values():
messaging.recv_one_or_none(s) messaging.recv_one_or_none(s)
# empty recv on drained pub indicates the end of messages, only do that if there're any
trigger_empty_recv = False
if cfg.drained_pub:
trigger_empty_recv = next((True for m in msg_queue if m.which() == cfg.drained_pub), False)
for m in msg_queue: for m in msg_queue:
pm.send(m.which(), m.as_builder()) pm.send(m.which(), m.as_builder())
msg_queue = [] msg_queue = []
rc.unlock_sockets() rc.unlock_sockets()
rc.wait_for_next_recv(True) rc.wait_for_next_recv(trigger_empty_recv)
for s in resp_sockets: for s in resp_sockets:
ms = messaging.drain_sock(sockets[s]) ms = messaging.drain_sock(sockets[s])
@ -417,15 +448,17 @@ def replay_process(cfg, lr, fingerprint=None):
return log_msgs return log_msgs
def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None): def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None, log_dir=None):
os.environ["PARAMS_ROOT"] = "/dev/shm/params" if platform.system() != "Darwin":
os.environ["PARAMS_ROOT"] = "/dev/shm/params"
if log_dir is not None:
os.environ["LOG_ROOT"] = log_dir
params = Params() params = Params()
params.clear_all() params.clear_all()
params.put_bool("OpenpilotEnabledToggle", True) params.put_bool("OpenpilotEnabledToggle", True)
params.put_bool("Passive", False) params.put_bool("Passive", False)
params.put_bool("DisengageOnAccelerator", True) params.put_bool("DisengageOnAccelerator", True)
params.put_bool("WideCameraOnly", False)
params.put_bool("DisableLogging", False) params.put_bool("DisableLogging", False)
os.environ["NO_RADAR_SLEEP"] = "1" os.environ["NO_RADAR_SLEEP"] = "1"
@ -480,7 +513,7 @@ def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None):
params.put_bool("ExperimentalLongitudinalEnabled", True) params.put_bool("ExperimentalLongitudinalEnabled", True)
def check_enabled(msgs): def check_openpilot_enabled(msgs):
cur_enabled_count = 0 cur_enabled_count = 0
max_enabled_count = 0 max_enabled_count = 0
for msg in msgs: for msg in msgs:

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
29f846f525a4e14f380afd20ae8fa0804011ab6e 05b4467181f826f934a7ee4aada003fb241bbdff

70
selfdrive/test/process_replay/regen.py
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@ -19,7 +19,8 @@ from panda.python import Panda
from selfdrive.car.toyota.values import EPS_SCALE from selfdrive.car.toyota.values import EPS_SCALE
from selfdrive.manager.process import ensure_running from selfdrive.manager.process import ensure_running
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_openpilot_enabled
from selfdrive.test.process_replay.migration import migrate_all
from selfdrive.test.update_ci_routes import upload_route from selfdrive.test.update_ci_routes import upload_route
from tools.lib.route import Route from tools.lib.route import Route
from tools.lib.framereader import FrameReader from tools.lib.framereader import FrameReader
@ -179,79 +180,22 @@ def replay_cameras(lr, frs, disable_tqdm=False):
return vs, p return vs, p
def migrate_carparams(lr):
all_msgs = []
for msg in lr:
if msg.which() == 'carParams':
CP = messaging.new_message('carParams')
CP.carParams = msg.carParams.as_builder()
for car_fw in CP.carParams.carFw:
car_fw.brand = CP.carParams.carName
msg = CP.as_reader()
all_msgs.append(msg)
return all_msgs
def migrate_sensorEvents(lr, old_logtime=False):
all_msgs = []
for msg in lr:
if msg.which() != 'sensorEventsDEPRECATED':
all_msgs.append(msg)
continue
# migrate to split sensor events
for evt in msg.sensorEventsDEPRECATED:
# build new message for each sensor type
sensor_service = ''
if evt.which() == 'acceleration':
sensor_service = 'accelerometer'
elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
sensor_service = 'gyroscope'
elif evt.which() == 'light' or evt.which() == 'proximity':
sensor_service = 'lightSensor'
elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
sensor_service = 'magnetometer'
elif evt.which() == 'temperature':
sensor_service = 'temperatureSensor'
m = messaging.new_message(sensor_service)
m.valid = True
if old_logtime:
m.logMonoTime = msg.logMonoTime
m_dat = getattr(m, sensor_service)
m_dat.version = evt.version
m_dat.sensor = evt.sensor
m_dat.type = evt.type
m_dat.source = evt.source
if old_logtime:
m_dat.timestamp = evt.timestamp
setattr(m_dat, evt.which(), getattr(evt, evt.which()))
all_msgs.append(m.as_reader())
return all_msgs
def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=False): def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=False):
if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"): if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
raise ValueError("whitelist_proc must be a string or iterable") raise ValueError("whitelist_proc must be a string or iterable")
lr = migrate_carparams(list(lr)) lr = migrate_all(lr)
lr = migrate_sensorEvents(list(lr))
if frs is None: if frs is None:
frs = dict() frs = dict()
params = Params()
os.environ["LOG_ROOT"] = outdir
# Get and setup initial state # Get and setup initial state
CP = [m for m in lr if m.which() == 'carParams'][0].carParams CP = [m for m in lr if m.which() == 'carParams'][0].carParams
controlsState = [m for m in lr if m.which() == 'controlsState'][0].controlsState controlsState = [m for m in lr if m.which() == 'controlsState'][0].controlsState
liveCalibration = [m for m in lr if m.which() == 'liveCalibration'][0] liveCalibration = [m for m in lr if m.which() == 'liveCalibration'][0]
setup_env(CP=CP, controlsState=controlsState) setup_env(CP=CP, controlsState=controlsState, log_dir=outdir)
params = Params()
params.put("CalibrationParams", liveCalibration.as_builder().to_bytes()) params.put("CalibrationParams", liveCalibration.as_builder().to_bytes())
vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm) vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm)
@ -344,7 +288,7 @@ def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=Fal
segment = params.get("CurrentRoute", encoding='utf-8') + "--0" segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
seg_path = os.path.join(outdir, segment) seg_path = os.path.join(outdir, segment)
# check to make sure openpilot is engaged in the route # check to make sure openpilot is engaged in the route
if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))): if not check_openpilot_enabled(LogReader(os.path.join(seg_path, "rlog"))):
raise Exception(f"Route did not engage for long enough: {segment}") raise Exception(f"Route did not engage for long enough: {segment}")
return seg_path return seg_path

9
selfdrive/test/process_replay/test_processes.py
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@ -9,11 +9,12 @@ from typing import Any, DefaultDict, Dict
from selfdrive.car.car_helpers import interface_names from selfdrive.car.car_helpers import interface_names
from selfdrive.test.openpilotci import get_url, upload_file from selfdrive.test.openpilotci import get_url, upload_file
from selfdrive.test.process_replay.compare_logs import compare_logs, save_log from selfdrive.test.process_replay.compare_logs import compare_logs
from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
from system.version import get_commit from system.version import get_commit
from tools.lib.filereader import FileReader from tools.lib.filereader import FileReader
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader
from tools.lib.helpers import save_log
source_segments = [ source_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
@ -98,13 +99,13 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
ref_log_msgs = list(LogReader(ref_log_path)) ref_log_msgs = list(LogReader(ref_log_path))
try: try:
log_msgs = replay_process(cfg, lr) log_msgs = replay_process(cfg, lr, disable_progress=True)
except Exception as e: except Exception as e:
raise Exception("failed on segment: " + segment) from e raise Exception("failed on segment: " + segment) from e
# check to make sure openpilot is engaged in the route # check to make sure openpilot is engaged in the route
if cfg.proc_name == "controlsd": if cfg.proc_name == "controlsd":
if not check_enabled(log_msgs): if not check_openpilot_enabled(log_msgs):
return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
try: try:

53
selfdrive/test/test_onroad.py
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@ -18,6 +18,7 @@ from common.basedir import BASEDIR
from common.timeout import Timeout from common.timeout import Timeout
from common.params import Params from common.params import Params
from selfdrive.controls.lib.events import EVENTS, ET from selfdrive.controls.lib.events import EVENTS, ET
from system.hardware import HARDWARE
from system.loggerd.config import ROOT from system.loggerd.config import ROOT
from selfdrive.test.helpers import set_params_enabled, release_only from selfdrive.test.helpers import set_params_enabled, release_only
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader
@ -35,7 +36,6 @@ PROCS = {
"./_sensord": 12.0, "./_sensord": 12.0,
"selfdrive.controls.radard": 4.5, "selfdrive.controls.radard": 4.5,
"./_modeld": 4.48, "./_modeld": 4.48,
"./boardd": 3.63,
"./_dmonitoringmodeld": 5.0, "./_dmonitoringmodeld": 5.0,
"selfdrive.thermald.thermald": 3.87, "selfdrive.thermald.thermald": 3.87,
"selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.calibrationd": 2.0,
@ -45,12 +45,10 @@ PROCS = {
"./proclogd": 1.54, "./proclogd": 1.54,
"system.logmessaged": 0.2, "system.logmessaged": 0.2,
"./clocksd": 0.02, "./clocksd": 0.02,
"./ubloxd": 0.02,
"selfdrive.tombstoned": 0, "selfdrive.tombstoned": 0,
"./logcatd": 0, "./logcatd": 0,
"system.micd": 10.0, "system.micd": 10.0,
"system.timezoned": 0, "system.timezoned": 0,
"system.sensord.pigeond": 6.0,
"selfdrive.boardd.pandad": 0, "selfdrive.boardd.pandad": 0,
"selfdrive.statsd": 0.4, "selfdrive.statsd": 0.4,
"selfdrive.navd.navd": 0.4, "selfdrive.navd.navd": 0.4,
@ -59,6 +57,18 @@ PROCS = {
"selfdrive.locationd.laikad": None, # TODO: laikad cpu usage is sporadic "selfdrive.locationd.laikad": None, # TODO: laikad cpu usage is sporadic
} }
PROCS.update({
"tici": {
"./boardd": 4.0,
"./ubloxd": 0.02,
"system.sensord.pigeond": 6.0,
},
"tizi": {
"./boardd": 19.0,
"system.sensord.rawgps.rawgpsd": 1.0,
}
}[HARDWARE.get_device_type()])
TIMINGS = { TIMINGS = {
# rtols: max/min, rsd # rtols: max/min, rsd
"can": [2.5, 0.35], "can": [2.5, 0.35],
@ -96,10 +106,14 @@ class TestOnroad(unittest.TestCase):
# setup env # setup env
params = Params() params = Params()
params.clear_all() if "CI" in os.environ:
params.clear_all()
params.remove("CurrentRoute")
set_params_enabled() set_params_enabled()
os.environ['TESTING_CLOSET'] = '1'
if os.path.exists(ROOT): if os.path.exists(ROOT):
shutil.rmtree(ROOT) shutil.rmtree(ROOT)
os.system("rm /dev/shm/*")
# Make sure athena isn't running # Make sure athena isn't running
os.system("pkill -9 -f athena") os.system("pkill -9 -f athena")
@ -155,11 +169,11 @@ class TestOnroad(unittest.TestCase):
for s, msgs in self.service_msgs.items(): for s, msgs in self.service_msgs.items():
if s in ('initData', 'sentinel'): if s in ('initData', 'sentinel'):
continue continue
# skip gps services for now # skip gps services for now
if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocationExternal'): if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'):
continue continue
with self.subTest(service=s): with self.subTest(service=s):
assert len(msgs) >= math.floor(service_list[s].frequency*55) assert len(msgs) >= math.floor(service_list[s].frequency*55)
@ -243,6 +257,14 @@ class TestOnroad(unittest.TestCase):
self.assertTrue(cpu_ok) self.assertTrue(cpu_ok)
def test_memory_usage(self):
mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
print("Memory usage: ", mems)
# check for big leaks. note that memory usage is
# expected to go up while the MSGQ buffers fill up
self.assertLessEqual(max(mems) - min(mems), 3.0)
def test_camera_processing_time(self): def test_camera_processing_time(self):
result = "\n" result = "\n"
result += "------------------------------------------------\n" result += "------------------------------------------------\n"
@ -257,6 +279,23 @@ class TestOnroad(unittest.TestCase):
result += "------------------------------------------------\n" result += "------------------------------------------------\n"
print(result) print(result)
@unittest.skip("TODO: enable once timings are fixed")
def test_camera_frame_timings(self):
result = "\n"
result += "------------------------------------------------\n"
result += "----------------- SoF Timing ------------------\n"
result += "------------------------------------------------\n"
for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
ts = [getattr(getattr(m, m.which()), "timestampSof") for m in self.lr if name in m.which()]
d_ms = np.diff(ts) / 1e6
d50 = np.abs(d_ms-50)
self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}")
result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n"
result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n"
result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n"
result += "------------------------------------------------\n"
print(result)
def test_mpc_execution_timings(self): def test_mpc_execution_timings(self):
result = "\n" result = "\n"
result += "------------------------------------------------\n" result += "------------------------------------------------\n"

12
selfdrive/thermald/thermald.py
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@ -13,6 +13,7 @@ import psutil
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal import log from cereal import log
from common.dict_helpers import strip_deprecated_keys from common.dict_helpers import strip_deprecated_keys
from common.time import MIN_DATE
from common.filter_simple import FirstOrderFilter from common.filter_simple import FirstOrderFilter
from common.params import Params from common.params import Params
from common.realtime import DT_TRML, sec_since_boot from common.realtime import DT_TRML, sec_since_boot
@ -41,7 +42,7 @@ HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'ne
THERMAL_BANDS = OrderedDict({ THERMAL_BANDS = OrderedDict({
ThermalStatus.green: ThermalBand(None, 80.0), ThermalStatus.green: ThermalBand(None, 80.0),
ThermalStatus.yellow: ThermalBand(75.0, 96.0), ThermalStatus.yellow: ThermalBand(75.0, 96.0),
ThermalStatus.red: ThermalBand(80.0, 107.), ThermalStatus.red: ThermalBand(88.0, 107.),
ThermalStatus.danger: ThermalBand(94.0, None), ThermalStatus.danger: ThermalBand(94.0, None),
}) })
@ -272,7 +273,7 @@ def thermald_thread(end_event, hw_queue):
# Ensure date/time are valid # Ensure date/time are valid
now = datetime.datetime.utcnow() now = datetime.datetime.utcnow()
startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10) startup_conditions["time_valid"] = now > MIN_DATE
set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"])) set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]))
startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
@ -286,8 +287,11 @@ def thermald_thread(end_event, hw_queue):
params.get_bool("Passive") params.get_bool("Passive")
startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
# if any CPU gets above 107 or the battery gets above 63, kill all processes
# controls will warn with CPU above 95 or battery above 60 # must be at an engageable thermal band to go onroad
startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
# if the temperature enters the danger zone, go offroad to cool down
onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"])) set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"]))

3
selfdrive/ui/SConscript
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@ -20,7 +20,7 @@ if arch == "Darwin":
qt_env['FRAMEWORKS'] += ['OpenCL'] qt_env['FRAMEWORKS'] += ['OpenCL']
qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.cc",
"qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
"qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
"qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
@ -64,6 +64,7 @@ qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
if GetOption('test'): if GetOption('test'):
qt_src.remove("main.cc") # replaced by test_runner qt_src.remove("main.cc") # replaced by test_runner
qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs)
# build translation files # build translation files

36
selfdrive/ui/qt/home.cc
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@ -2,6 +2,7 @@
#include <QHBoxLayout> #include <QHBoxLayout>
#include <QMouseEvent> #include <QMouseEvent>
#include <QStackedWidget>
#include <QVBoxLayout> #include <QVBoxLayout>
#include "selfdrive/ui/qt/offroad/experimental_mode.h" #include "selfdrive/ui/qt/offroad/experimental_mode.h"
@ -136,21 +137,34 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
home_layout->setContentsMargins(0, 0, 0, 0); home_layout->setContentsMargins(0, 0, 0, 0);
home_layout->setSpacing(30); home_layout->setSpacing(30);
// left: ExperimentalModeButton, DriveStats // left: DriveStats/PrimeAdWidget
QWidget* left_widget = new QWidget(this); QStackedWidget *left_widget = new QStackedWidget(this);
QVBoxLayout* left_column = new QVBoxLayout(left_widget); left_widget->addWidget(new DriveStats);
left_column->setContentsMargins(0, 0, 0, 0); left_widget->addWidget(new PrimeAdWidget);
left_column->setSpacing(30);
left_widget->setCurrentIndex(uiState()->primeType() ? 0 : 1);
connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) {
left_widget->setCurrentIndex(prime_type ? 0 : 1);
});
home_layout->addWidget(left_widget, 1);
// right: ExperimentalModeButton, SetupWidget
QWidget* right_widget = new QWidget(this);
QVBoxLayout* right_column = new QVBoxLayout(right_widget);
right_column->setContentsMargins(0, 0, 0, 0);
right_widget->setFixedWidth(750);
right_column->setSpacing(30);
ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
left_column->addWidget(experimental_mode, 1); right_column->addWidget(experimental_mode, 1);
left_column->addWidget(new DriveStats, 1);
home_layout->addWidget(left_widget, 1); SetupWidget *setup_widget = new SetupWidget;
QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
right_column->addWidget(setup_widget, 1);
// right: SetupWidget home_layout->addWidget(right_widget, 1);
home_layout->addWidget(new SetupWidget);
} }
center_layout->addWidget(home_widget); center_layout->addWidget(home_widget);
@ -170,7 +184,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
setStyleSheet(R"( setStyleSheet(R"(
* { * {
color: white; color: white;
} }
OffroadHome { OffroadHome {
background-color: black; background-color: black;

78
selfdrive/ui/qt/maps/map_settings.cc
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@ -13,46 +13,46 @@ static QString shorten(const QString &str, int max_len) {
} }
MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
stack = new QStackedWidget; QStackedLayout *stack = new QStackedLayout(this);
QWidget * main_widget = new QWidget; QWidget *main_widget = new QWidget;
QVBoxLayout *main_layout = new QVBoxLayout(main_widget); QVBoxLayout *main_layout = new QVBoxLayout(main_widget);
const int icon_size = 200; main_layout->setSpacing(20);
// Home
QHBoxLayout *home_layout = new QHBoxLayout;
home_button = new QPushButton;
home_button->setIconSize(QSize(icon_size, icon_size));
home_layout->addWidget(home_button);
home_address = new QLabel;
home_address->setWordWrap(true);
home_layout->addSpacing(30);
home_layout->addWidget(home_address);
home_layout->addStretch();
// Work
QHBoxLayout *work_layout = new QHBoxLayout;
work_button = new QPushButton;
work_button->setIconSize(QSize(icon_size, icon_size));
work_layout->addWidget(work_button);
work_address = new QLabel;
work_address->setWordWrap(true);
work_layout->addSpacing(30);
work_layout->addWidget(work_address);
work_layout->addStretch();
// Home & Work layout // Home & Work layout
QHBoxLayout *home_work_layout = new QHBoxLayout; QHBoxLayout *home_work_layout = new QHBoxLayout;
home_work_layout->addLayout(home_layout, 1); {
home_work_layout->addSpacing(50); // Home
home_work_layout->addLayout(work_layout, 1); home_button = new QPushButton;
home_button->setIconSize(QSize(MAP_PANEL_ICON_SIZE, MAP_PANEL_ICON_SIZE));
home_address = new QLabel;
home_address->setWordWrap(true);
QHBoxLayout *home_layout = new QHBoxLayout;
home_layout->addWidget(home_button);
home_layout->addSpacing(30);
home_layout->addWidget(home_address);
home_layout->addStretch();
// Work
work_button = new QPushButton;
work_button->setIconSize(QSize(MAP_PANEL_ICON_SIZE, MAP_PANEL_ICON_SIZE));
work_address = new QLabel;
work_address->setWordWrap(true);
QHBoxLayout *work_layout = new QHBoxLayout;
work_layout->addWidget(work_button);
work_layout->addSpacing(30);
work_layout->addWidget(work_address);
work_layout->addStretch();
home_work_layout->addLayout(home_layout, 1);
home_work_layout->addSpacing(50);
home_work_layout->addLayout(work_layout, 1);
}
main_layout->addLayout(home_work_layout); main_layout->addLayout(home_work_layout);
main_layout->addSpacing(20);
main_layout->addWidget(horizontal_line()); main_layout->addWidget(horizontal_line());
main_layout->addSpacing(20);
// Current route // Current route
{ {
@ -81,7 +81,6 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
QLabel *recents_title = new QLabel(tr("Recent Destinations")); QLabel *recents_title = new QLabel(tr("Recent Destinations"));
recents_title->setStyleSheet("font-size: 55px"); recents_title->setStyleSheet("font-size: 55px");
main_layout->addWidget(recents_title); main_layout->addWidget(recents_title);
main_layout->addSpacing(20);
recent_layout = new QVBoxLayout; recent_layout = new QVBoxLayout;
QWidget *recent_widget = new LayoutWidget(recent_layout, this); QWidget *recent_widget = new LayoutWidget(recent_layout, this);
@ -119,9 +118,6 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
stack->setCurrentIndex(prime_type ? 0 : 1); stack->setCurrentIndex(prime_type ? 0 : 1);
}); });
QVBoxLayout *wrapper = new QVBoxLayout(this);
wrapper->addWidget(stack);
clear(); clear();
@ -207,8 +203,9 @@ void MapPanel::refresh() {
prev_destinations = cur_destinations; prev_destinations = cur_destinations;
clear(); clear();
// add favorites before recents
bool has_recents = false; bool has_recents = false;
for (auto &save_type: {"favorite", "recent"}) { for (auto &save_type: {NAV_TYPE_FAVORITE, NAV_TYPE_RECENT}) {
for (auto location : doc.array()) { for (auto location : doc.array()) {
auto obj = location.toObject(); auto obj = location.toObject();
@ -219,7 +216,7 @@ void MapPanel::refresh() {
if (type != save_type) continue; if (type != save_type) continue;
if (type == "favorite" && label == "home") { if (type == NAV_TYPE_FAVORITE && label == NAV_FAVORITE_LABEL_HOME) {
home_address->setText(name); home_address->setText(name);
home_address->setStyleSheet(R"(font-size: 50px; color: white;)"); home_address->setStyleSheet(R"(font-size: 50px; color: white;)");
home_button->setIcon(QPixmap("../assets/navigation/home.png")); home_button->setIcon(QPixmap("../assets/navigation/home.png"));
@ -227,7 +224,7 @@ void MapPanel::refresh() {
navigateTo(obj); navigateTo(obj);
emit closeSettings(); emit closeSettings();
}); });
} else if (type == "favorite" && label == "work") { } else if (type == NAV_TYPE_FAVORITE && label == NAV_FAVORITE_LABEL_WORK) {
work_address->setText(name); work_address->setText(name);
work_address->setStyleSheet(R"(font-size: 50px; color: white;)"); work_address->setStyleSheet(R"(font-size: 50px; color: white;)");
work_button->setIcon(QPixmap("../assets/navigation/work.png")); work_button->setIcon(QPixmap("../assets/navigation/work.png"));
@ -245,7 +242,7 @@ void MapPanel::refresh() {
sp.setRetainSizeWhenHidden(true); sp.setRetainSizeWhenHidden(true);
star->setSizePolicy(sp); star->setSizePolicy(sp);
star->setVisible(type == "favorite"); star->setVisible(type == NAV_TYPE_FAVORITE);
star->setStyleSheet(R"(font-size: 60px;)"); star->setStyleSheet(R"(font-size: 60px;)");
layout->addWidget(star); layout->addWidget(star);
layout->addSpacing(10); layout->addSpacing(10);
@ -284,7 +281,6 @@ void MapPanel::refresh() {
has_recents = true; has_recents = true;
} }
} }
} }
if (!has_recents) { if (!has_recents) {

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