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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. 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 and 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 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, if applicable

panda

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 gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:

https://www.youtube.com/watch?v=XxPS5TpTUnI

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