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‎README.md‎

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@@ -67,7 +67,7 @@ At its most basic, a car port will control the steering on a car. A "complete" c
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### Connect to the Car
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The first step is to get connected to the car with a comma 3X and a car harness.
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The first step is to get connected to the car with a comma four and a car harness.
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The car harness gets you connected to two different CAN buses and splits one of those buses to send our own actuation messages.
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If you're lucky, a harness compatible with your car will already be designed and sold on comma.ai/shop.
@@ -151,7 +151,7 @@ In addition to the standard bounties, we also offer higher value bounties for mo
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## FAQ
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***How do I use this?*** A [comma 3X](https://comma.ai/shop/comma-3x) is custom-designed to be the best way to run and develop opendbc and openpilot.
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***How do I use this?*** A [comma four](https://comma.ai/shop/comma-four) is custom-designed to be the best way to run and develop opendbc and openpilot.
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***Which cars are supported?*** See the [supported cars list](docs/CARS.md).
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@@ -179,7 +179,7 @@ In addition to the standard bounties, we also offer higher value bounties for mo
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* **[DBC file](https://en.wikipedia.org/wiki/CAN_bus#DBC)**: contains definitions for messages on a CAN bus
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* **[openpilot](https://github.com/commaai/openpilot)**: an ADAS system for cars supported by opendbc
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* **[comma](https://github.com/commaai)**: the company behind opendbc
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* **[comma 3X](https://comma.ai/shop/comma-3x)**: the hardware used to run openpilot
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* **[comma four](https://comma.ai/shop/comma-four)**: the hardware used to run openpilot
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### More resources
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‎docs/CARS.md‎

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|Audi|Q5 2017-24|All|[Not compatible](#flexray)|
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|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
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|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|[Upstream](#upstream)|
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|[Upstream](#upstream)|
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|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|[Upstream](#upstream)|
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|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
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|Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|

‎opendbc/can/dbc.py‎

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@@ -1,7 +1,8 @@
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import re
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import os
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from dataclasses import dataclass
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from collections.abc import Callable
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from dataclasses import dataclass
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from functools import cache
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from opendbc import DBC_PATH
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@@ -73,14 +74,8 @@ class Val:
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VAL_SPLIT_RE = re.compile(r'["]+')
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@dataclass
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@cache
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class DBC:
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name: str
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msgs: dict[int, Msg]
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addr_to_msg: dict[int, Msg]
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name_to_msg: dict[str, Msg]
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vals: list[Val]
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def __init__(self, name: str):
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dbc_path = name
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if not os.path.exists(dbc_path):

‎opendbc/car/docs_definitions.py‎

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@@ -72,16 +72,14 @@ def part_type(self):
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class Mount(EnumBase):
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mount = BasePart("mount")
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angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
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class Cable(EnumBase):
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long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
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usb_a_2_a_cable = BasePart("USB A-A cable")
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usbc_otg_cable = BasePart("USB C OTG cable")
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usbc_coupler = BasePart("USB-C coupler")
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obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
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right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
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obd_c_cable_2ft = BasePart("OBD-C cable (2 ft)")
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class Accessory(EnumBase):
@@ -149,9 +147,7 @@ class CarHarness(EnumBase):
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class Device(EnumBase):
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threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
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# variant of comma 3X with angled mounts
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threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
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four = BasePart("comma four", parts=[Mount.mount, Cable.obd_c_cable_2ft])
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class PartType(Enum):
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tool = Tool
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DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex]
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DEFAULT_CAR_PARTS: list[EnumBase] = [Device.four]
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@dataclass
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def init(self, CP: CarParams, all_footnotes=None):
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self.brand = CP.brand
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self.car_fingerprint = CP.carFingerprint
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self.longitudinal_control = CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable
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if self.merged and CP.dashcamOnly:
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if self.support_type != SupportType.REVIEW:

‎opendbc/car/ford/values.py‎

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@@ -6,8 +6,7 @@
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from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
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from opendbc.car.lateral import AngleSteeringLimits
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from opendbc.car.structs import CarParams
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from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
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Device
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from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
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from opendbc.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
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Ecu = CarParams.Ecu
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def init_make(self, CP: CarParams):
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harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
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if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
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self.car_parts = CarParts([Device.threex_angled_mount, harness])
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else:
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self.car_parts = CarParts([Device.threex, harness])
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self.car_parts = CarParts.common([harness])
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if harness == CarHarness.ford_q4:
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self.setup_video = "https://www.youtube.com/watch?v=uUGkH6C_EQU"

‎opendbc/car/gm/values.py‎

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@@ -157,7 +157,7 @@ class CAR(Platforms):
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)
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CHEVROLET_BOLT_EUV = GMPlatformConfig(
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[
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GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
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GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim, without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
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GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
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],
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GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),

‎opendbc/car/honda/fingerprints.py‎

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b'8S302-3D4-A050\x00\x00',
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],
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(Ecu.fwdCamera, 0x18dab5f1, None): [
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b'8S102-3A0-A070\x00\x00',
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b'8S102-3A0-A090\x00\x00',
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b'8S102-3A0-A110\x00\x00',
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b'8S102-3A0-A230\x00\x00',

‎opendbc/car/honda/values.py‎

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from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
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from opendbc.car.common.conversions import Conversions as CV
6-
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, Device
6+
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
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from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
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Ecu = structs.CarParams.Ecu
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else:
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harness = CarHarness.nidec
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if CP.carFingerprint in (CAR.HONDA_PILOT_4G, CAR.HONDA_PASSPORT_4G):
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self.car_parts = CarParts([Device.threex_angled_mount, harness])
116-
else:
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self.car_parts = CarParts.common([harness])
114+
self.car_parts = CarParts.common([harness])
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class Footnote(Enum):

‎opendbc/car/hyundai/fingerprints.py‎

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b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ',
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],
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x00AE MDPS C 1.00 1.01 56310-XX000 4APHC101',
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b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101',
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b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
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],

‎opendbc/car/hyundai/values.py‎

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from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.structs import CarParams
8-
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, Device
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from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
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from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
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Ecu = CarParams.Ecu
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318318
HYUNDAI_PALISADE = HyundaiPlatformConfig(
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[
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HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
321-
HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts([Device.threex_angled_mount, CarHarness.hyundai_h])),
321+
HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
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],
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CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
324324
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,

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