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docs: comma 3X to comma four (#37009)
* comma 3X -> comma four * add comma four ports image
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Lukas
@@ -17,7 +17,7 @@
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<span> · </span>
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<a href="https://discord.comma.ai">Community</a>
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<span> · </span>
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<a href="https://comma.ai/shop">Try it on a comma 3X</a>
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<a href="https://comma.ai/shop">Try it on a comma four</a>
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</h3>
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Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
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@@ -42,10 +42,10 @@ Using openpilot in a car
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------
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To use openpilot in a car, you need four things:
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1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
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2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
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1. **Supported Device:** a comma four, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
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2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
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3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
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4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
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4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
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We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
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@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
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## What contributions are we looking for?
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**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
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openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
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openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
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### What gets merged?
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The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
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If a PR offers *some* value but will take lots of time to get merged, it will be closed.
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Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
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Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
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All of these are examples of good PRs:
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* typo fix: https://github.com/commaai/openpilot/pull/30678
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@@ -29,7 +29,7 @@ All of these are examples of good PRs:
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### What doesn't get merged?
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* **style changes**: code is art, and it's up to the author to make it beautiful
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* **style changes**: code is art, and it's up to the author to make it beautiful
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* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
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* **PRs without a clear goal**: every PR must have a singular and clear goal
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* **UI design**: we do not have a good review process for this yet
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@@ -39,7 +39,7 @@ All of these are examples of good PRs:
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### First contribution
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[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
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There's lot of bounties that don't require a comma 3X or a car.
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There's lot of bounties that don't require a comma four or a car.
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## Pull Requests
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3
docs/assets/four-ports.svg
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3
docs/assets/four-ports.svg
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:494bd79c4d81d8bf766845cb451fa14e5b9ad931ff8aa90daea0ba67e164abe3
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size 105562
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@@ -6,4 +6,4 @@
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* **segment**: routes are split into one minute chunks called segments.
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* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
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* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
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* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
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* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
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@@ -5,7 +5,7 @@
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## How do I use it?
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openpilot is designed to be used on the comma 3X.
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openpilot is designed to be used on the comma four.
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## How does it work?
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@@ -1,19 +1,20 @@
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# connect to a comma 3X
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# Connect to comma 3X or comma four
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A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
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A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
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## Serial Console
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On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
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On the comma 3X, the serial console is accessible from the main OBD-C port.
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Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
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On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
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On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
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The serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
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* Username: `comma`
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* Password: `comma`
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> [!NOTE]
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> Serial console access through the OBD-C port is not available on the comma four. On comma four devices, serial access requires opening the device to access the internal debug connector.
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## SSH
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In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
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@@ -34,7 +35,7 @@ For doing development work on device, it's recommended to use [SSH agent forward
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In order to use ADB on your device, you'll need to perform the following steps using the image below for reference:
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* Plug your device into constant power using port 2, letting the device boot up
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* Enable ADB in your device's settings
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@@ -45,7 +46,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
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* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
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> [!NOTE]
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> The default port for ADB is 5555 on the comma 3X.
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> The default port for ADB is 5555 on the comma four.
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For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
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@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
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Just run `tools/replay/replay --demo`.
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## Replaying CAN data
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*Hardware required: jungle and comma 3X*
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*Hardware required: jungle and comma four*
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1. Connect your PC to a jungle.
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2.
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@@ -21,7 +21,7 @@ nav:
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- What is openpilot?: getting-started/what-is-openpilot.md
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- How-to:
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- Turn the speed blue: how-to/turn-the-speed-blue.md
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- Connect to a comma 3X: how-to/connect-to-comma.md
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- Connect to a comma 3X or comma four: how-to/connect-to-comma.md
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# - Make your first pull request: how-to/make-first-pr.md
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#- Replay a drive: how-to/replay-a-drive.md
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- Concepts:
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@@ -52,7 +52,7 @@ optional arguments:
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-h, --help show this help message and exit
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--debug enable ISO-TP/UDS stack debugging output
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This tool is meant to run directly on a vehicle-installed comma three, with
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This tool is meant to run directly on a vehicle-installed comma four, with
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the openpilot/tmux processes stopped. It should also work on a separate PC with a USB-
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attached comma panda. Vehicle ignition must be on. Recommend engine not be running when
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making changes. Must turn ignition off and on again for any changes to take effect.
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@@ -49,7 +49,7 @@ usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
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Decode video streams and broadcast on VisionIPC
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positional arguments:
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addr Address of comma three
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addr Address of comma four
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options:
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-h, --help show this help message and exit
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@@ -42,7 +42,7 @@ class Keyboard:
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class Joystick:
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def __init__(self):
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# This class supports a PlayStation 5 DualSense controller on the comma 3X
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# This class supports a PlayStation 5 DualSense controller on the comma four
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# TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
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self.cancel_button = 'BTN_NORTH' # BTN_NORTH=X/triangle
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if HARDWARE.get_device_type() == 'pc':
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@@ -123,7 +123,7 @@ def main():
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
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'openpilot must be offroad before starting joystick_control. This tool supports ' +
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'a PlayStation 5 DualSense controller on the comma 3X.',
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'a PlayStation 5 DualSense controller on the comma four.',
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
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args = parser.parse_args()
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@@ -101,7 +101,7 @@ tools/plotjuggler/juggle.py --stream
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## watch3
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watch all three cameras simultaneously from your comma three routes with watch3
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watch all three cameras simultaneously from your comma four routes with watch3
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simply replay a route using the `--dcam` and `--ecam` flags:
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