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docs: car port info cleanup (#33630)

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* GC, now duplicated and out of place

* typo fix

* link to official video with better slides

* expansion and cleanup
This commit is contained in:
Jason Young
2024-09-23 16:39:36 -04:00
committed by GitHub
parent 62d044c794
commit 900c2c83bd
2 changed files with 24 additions and 26 deletions
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docs/car-porting/what-is-a-car-port.md
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# What is a car port?
A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/car_specific.py` and `opendbc_repo/opendbc/car`.
A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. The complexity of a car port varies depending on many factors including:
The complexity of a car port varies depending on many factors including:
* existing openpilot support for similar cars
* architecture and APIs available in the car
# Structure of a car port
Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
## opendbc
Each car brand is supported by a standard interface structure in `opendbc/car/[brand]`:
* `interface.py`: Interface for the car, defines the CarInterface class
* `carstate.py`: Reads CAN from car and builds openpilot CarState message
* `carcontroller.py`: Builds CAN messages to send to car
* `carstate.py`: Reads CAN messages from the car and builds openpilot CarState messages
* `carcontroller.py`: Control logic for executing openpilot CarControl actions on the car
* `[brand]can.py`: Composes CAN messages for carcontroller to send
* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
* `radar_interface.py`: Interface for parsing radar points from the car
* `radar_interface.py`: Interface for parsing radar points from the car, if applicable
## panda
# Overiew
* `board/safety/safety_[brand].h`: Brand-specific safety logic
* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
## openpilot
For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
* `selfdrive/car/car_specific.py`: Brand-specific event logic
# Overview
[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM
https://www.youtube.com/watch?v=XxPS5TpTUnI

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selfdrive/car/README.md
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## Car port structure
### interface.py
Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
### fingerprints.py
Fingerprints for matching to a specific car
### carcontroller.py
Builds CAN messages to send to car
##### carstate.py
Reads CAN from car and builds openpilot CarState message
##### values.py
Limits for actuation, general constants for cars, and supported car documentation
##### radar_interface.py
Interface for parsing radar points from the car