Most cars since 2016 have electronically-actuatable steering, gas, and brakes thanks to [LKAS](https://en.wikipedia.org/wiki/Lane_departure_warning_system#Lane_keeping_and_next_technologies) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control).
The goal of this project is to support controlling the steering, gas, and brakes on every single one of those cars.
While the primary focus is on supporting ADAS interfaces for [openpilot](https://github.com/commaai/openpilot), we're also interested in reading and writing as many things as we can (EV charge status, lock/unlocking doors, etc) such that we can build the best vehicle management app ever.
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This README and the [supported cars list](docs/CARS.md) are all the docs for the opendbc project.
Everything you need to know to use, contribute, and extend opendbc are in these docs.
This guide covers everything from adding support to a new car all the way to improving existing cars (e.g. adding longitudinal control or radar parsing). If similar cars to yours are already compatible, most of this work is likely already done for you.
At its most basic, a car port will control the steering on a car. A "complete" car port will have all of: lateral control, longitudinal control, good tuning for both lateral and longitudinal, radar parsing (if equipped), fuzzy fingerprinting, and more. The new car support docs will clearly communicate each car's support level.
Start off by recording a route with lots of interesting events: enable LKAS and ACC, turn the steering wheel both extremes, etc. Then, load up that route in [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
Use the [longitudinal maneuvers](https://github.com/commaai/openpilot/tree/master/tools/longitudinal_maneuvers) report to evaluate your car's longitudinal control and tune it.
All opendbc development is coordinated on GitHub and [Discord](https://discord.comma.ai). Check out the `#dev-opendbc-cars` channel and `Vehicle Specific` section.
When a [panda](https://comma.ai/shop/panda) powers up with [opendbc safety firmware](opendbc/safety), by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the CAN buses are forced to be silent. In order to send messages, you have to select a safety mode. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build.
Safety modes optionally support `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
## Code Rigor
The opendbc safety firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot) and [panda](https://github.com/commaai/panda). The safety firmware, through its safety model, provides and enforces the
[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `safety` folder is held to high standards.
These are the [CI regression tests](https://github.com/commaai/opendbc/actions) we have in place:
* A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://misra.org.uk/) violations. See [current coverage](opendbc/safety/tests/misra/coverage_table).
* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
* The [safety logic](opendbc/safety) is tested and verified by [unit tests](opendbc/safety/tests) for each supported car variant.
The above tests are themselves tested by:
* a [mutation test](opendbc/safety/tests/misra/test_mutation.py) on the MISRA coverage
* 100% line coverage enforced on the safety unit tests
In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on the car interface library.
***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.
***Can I add support for my car?*** Yes, most car support comes from the community. Read the guide [here](https://github.com/commaai/opendbc/blob/docs/README.md#how-to-port-a-car).
***Which cars can be supported?*** Any car with LKAS and ACC. More info [here](https://github.com/commaai/openpilot/blob/master/docs/CARS.md#dont-see-your-car-here).
***How does this work?*** In short, we designed hardware to replace your car's built-in lane keep and adaptive cruise features. See [this talk](https://www.youtube.com/watch?v=FL8CxUSfipM) for an in-depth explanation.
***Is there a timeline or roadmap for adding car support?*** No, most car support comes from the community, with comma doing final safety and quality validation. The more complete the community car port is and the more popular the car is, the more likely we are to pick it up as the next one to validate.
* [*How Do We Control The Car?*](https://www.youtube.com/watch?v=nNU6ipme878&pp=ygUoY29tbWEgY29uIDIwMjEgaG93IGRvIHdlIGNvbnRyb2wgdGhlIGNhcg%3D%3D) by [@robbederks](https://github.com/robbederks) from COMMA_CON 2021
* [*How to Port a Car*](https://www.youtube.com/watch?v=XxPS5TpTUnI&t=142s&pp=ygUPamFzb24gY29tbWEgY29u) by [@jyoung8607](https://github.com/jyoung8607) from COMMA_CON 2023
* [commaCarSegments](https://huggingface.co/datasets/commaai/commaCarSegments): a massive dataset of CAN data from 300 different car models
* [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana#readme): our tool for reverse engineering CAN messages
* [can_print_changes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/debug/can_print_changes.py): diff the whole CAN bus across two drives, such as one without any LKAS and one with LKAS
* [longitudinal maneuvers](https://github.com/commaai/openpilot/tree/master/tools/longitudinal_maneuvers): a tool for evaluating and tuning longitudinal control
* [opendbc data](https://commaai.github.io/opendbc-data/): a repository of longitudinal maneuver evaluations
