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Car docs: fixes (#30710) 

* always lower case

* more fixes

* link

* rm ()
old-commit-hash: c4759c0a50
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Shane Smiskol 2023-12-12 20:41:43 -08:00 committed by GitHub
parent eb642a1704
commit 197571344e
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17
selfdrive/car/README.MD → selfdrive/car/README.md
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@ -1,11 +1,10 @@
# selfdrive/car
### Check out this blogpost for a high level overview of car ports
https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/
Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car.
## Useful car porting utilities
Testing car ports in your car is very time consuming! Checkout these utilities to do basic checks on your work before running it in your car.
Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.
### [Cabana](/tools/cabana/README.md)
@ -28,12 +27,12 @@ Attempting to add fw version for: SUBARU OUTBACK 6TH GEN
### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
Finds common bugs for car interfaces, without even requiring a route!
Finds common bugs for car interfaces, without even requiring a route.
#### Example: Typo in signal name
```bash
> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # (replace with the brand you are working on!)
> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # replace with the brand you are working on
=====================================================================
FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
@ -42,9 +41,9 @@ FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_i
### [selfdrive/debug/test_car_model.py](/selfdrive/debug/test_car_model.py)
Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and mismatches.
Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.
#### Example: Panda safety mismatch for gasPressed
#### Example: panda safety mismatch for gasPressed
```bash
> python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
@ -59,7 +58,7 @@ AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'ga
```
## Car Port structure
## Car port structure
### interface.py
Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
@ -71,7 +70,7 @@ Builds CAN messages to send to car
Reads CAN from car and builds openpilot CarState message
##### values.py
Fingerprints, limits for actuation, car doc information, etc
Fingerprints, limits for actuation, and supported car documentation
##### radar_interface.py
Interface for parsing radar points from the car