Lincoln MKZ / Ford Fusion compatibility

ingenieroariel commented 7 years ago

Udacity is also building a self driving car using that model as a reference.

What is the list of things to take into account to port openpilot to other cars?

Here is a list based on what I have read so far:

[ ] Create .dbc file
[ ] Steering
[ ] Brake/Throttle
[ ] Shift

alan707 commented 7 years ago

Can someone confirm 0x3A6#000D generates Vehicle Coming from Left alert as the picture on issue #31 shows? This is the command I ran: cangen can0 -g 10 -I 3A6 -D 000D

ingenieroariel commented 7 years ago

I ran the same command on my car (HS2 bus, the one connected to camera) and got nothing, while in parking, reverse and drive. On which bus did you send it?

alan707 commented 7 years ago

When I had all CAN buses open, that was on HS3. I confirmed that doesn't work through the DLC (OBD-II port). Now that I have connected all 4 CAN buses to the CAN gateway module, it is acting more like the real system and that message will need to be piped in directly to HS3

alan707 commented 7 years ago

Here's an explanation how you solve SocketCAN's No buffer space available error: https://community.carloop.io/t/socketcan-canplayer-error-sendto-no-buffer-space-available/298

ingenieroariel commented 7 years ago

I was able to capture data from the 3 high speed can buses using 3 x canable.io ($20 usd), flashing them with the candlelight firmware and using a custom gs_usb kernel extension. Attached are 3 million can messages with LKAS and ACC on from the 3 can buses.

I also recorded video with GPS information using a garmin virb, video at 240 fps around the car with 4 gopros and 4K video front facing. Here is an example:

https://www.youtube.com/watch?v=6VeWhmZnWIw

3can.zip

adam-nelson commented 7 years ago

So thats the car driving itself?

On Thu, Jun 15, 2017 at 6:06 AM, Ariel Núñez notifications@github.com wrote:

I was able to capture data from the 3 high speed can buses using 3 x canable.io ($20 usd), flashing them with the candlelight firmware and using a custom gs_usb kernel extension. Attached are 3 million can messages with LKAS and ACC on from the 3 can buses.

I also recorded video with GPS information using a garmin virb, video at 240 fps around the car with 4 gopros and 4K video front facing. Here is an example:

https://www.youtube.com/watch?v=6VeWhmZnWIw

3can.zip https://github.com/commaai/openpilot/files/1075779/3can.zip

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ingenieroariel commented 7 years ago

Parts of the trip yes, but with the built in system that we are trying to replace with openpilot.

-a

On Jun 14, 2017, at 9:55 PM, Adam Nelson notifications@github.com wrote:

So thats the car driving itself?

On Thu, Jun 15, 2017 at 6:06 AM, Ariel Núñez notifications@github.com wrote:

I was able to capture data from the 3 high speed can buses using 3 x canable.io ($20 usd), flashing them with the candlelight firmware and using a custom gs_usb kernel extension. Attached are 3 million can messages with LKAS and ACC on from the 3 can buses.

I also recorded video with GPS information using a garmin virb, video at 240 fps around the car with 4 gopros and 4K video front facing. Here is an example:

https://www.youtube.com/watch?v=6VeWhmZnWIw

3can.zip https://github.com/commaai/openpilot/files/1075779/3can.zip

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adam-nelson commented 7 years ago

Well this is good news

@geohots should be happy

On Thu, Jun 15, 2017 at 8:58 PM, Ariel Núñez notifications@github.com wrote:

Parts of the trip yes, but with the built in system that we are trying to replace with openpilot.

-a

On Jun 14, 2017, at 9:55 PM, Adam Nelson notifications@github.com wrote:

So thats the car driving itself?

On Thu, Jun 15, 2017 at 6:06 AM, Ariel Núñez notifications@github.com wrote:

I was able to capture data from the 3 high speed can buses using 3 x canable.io ($20 usd), flashing them with the candlelight firmware and using a custom gs_usb kernel extension. Attached are 3 million can messages with LKAS and ACC on from the 3 can buses.

I also recorded video with GPS information using a garmin virb, video at 240 fps around the car with 4 gopros and 4K video front facing. Here is an example:

https://www.youtube.com/watch?v=6VeWhmZnWIw

3can.zip https://github.com/commaai/openpilot/files/1075779/3can.zip

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ingenieroariel commented 7 years ago

Here is a non-exhaustive list of id's in those 3 can buses, if anyone wants to help out, you can create issues for the id messages that were not in abraham before:

adam-nelson commented 7 years ago

Does the fusion have a sync system?

ingenieroariel commented 7 years ago

SYNC3

-a

On Jul 11, 2017, at 3:47 AM, Adam Nelson notifications@github.com wrote:

Does the fusion have a sync system?

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ankita9017 commented 7 years ago

@ingenieroariel any latest updates? were you able to find the steering control IDs?

lemassykoi commented 7 years ago

@ingenieroariel Hi, I just ordered a Panda from Comma.ai few days ago, and after reading your story, I'm wondering if I should cancel it, to buy an OpenXC Ford Ref VI instead, cause I own a Ford Mondeo. I already installed chffr and record trips with it.

Thanks

ingenieroariel commented 7 years ago

Clement,

I have not used my OpenXC device in a while and now use the kvaser leaf light and the canable with a modified firmware to connect to the different buses, it all goes to a jetson tx2 board. The openxc in json mode was too slow.

Since the Panda is not open source I cannot comment.

-a

On Aug 19, 2017, at 9:54 AM, Clément PAPPALARDO notifications@github.com wrote:

@ingenieroariel Hi, I just ordered a Panda from Comma.ai few days ago, and after reading your story, I'm wondering if I should cancel it, to buy an OpenXC Ford Ref VI instead, cause I own a Ford Mondeo. I already installed chffr and record trips with it.

Thanks

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geohot commented 7 years ago

All of the panda software is open source (see our GitHub, don't spread fake news!), and unlike the OpenXC, it is capable of dumping the full contents of the buses in real time.

Kvaser isn't a bad choice either, just expensive.

ingenieroariel commented 7 years ago

My apologies for the confusion, I meant open source hardware (like the NEO). Should have clarified.

OpenXC has an open source hardware version too, and of course kvaser is close source hardware and firmware (but open source linux kernel drivers).

-a

On Aug 19, 2017, at 11:04 AM, George Hotz notifications@github.com wrote:

All of the panda software is open source (see our GitHub, don't spread fake news!), and unlike the OpenXC, it is capable of dumping the full contents of the buses in real time.

Kvasar isn't a bad choice either, just expensive.

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energee commented 7 years ago

A panda should make this car straightforward to port, was hoping to see more progress by now. @lemassykoi have you logged any drives yet?

lemassykoi commented 7 years ago

I'm waiting for my panda, and I am very motivated to get openpilot to work

gekowa commented 7 years ago

I've got my panda today, and I'm trying to hack into Ford Kuga (Escape). Wondering if any updates from you guys about Ford Fusion?

lemassykoi commented 7 years ago

Panda is receiving signals from 2 CAN buses. I am currently decoding signals. I can send some few things, like turn signals, the simpliest thing I've found so far. Hard work.

gekowa commented 7 years ago

@lemassykoi, did you connect Panda with an ordinary male-male USB cable? Did you cut off the power wire of the USB cable? I'm connecting with an ordinary USB cable, but the car turned itself off as soon as the cable is connected. I was told that I need to cut off the power wire of the USB cable, don't know if this is the reason.

lemassykoi commented 7 years ago

Yes, with an ordinary male male USB, from amazon, 5 meters. I didn't cut anything as my panda is rev. C, and my two laptops are all modern and from Dell. Which computer do you use ? Linux or Windows ? go to slack channel, more informations are there.

gekowa commented 7 years ago

@lemassykoi, which operating system do you use? And do you mind share your tool chain about hacking the CAN?

energee commented 7 years ago

@gekowa cut the power wire or plug it into the car before the computer

gekowa commented 7 years ago

@energee, I tried both, neither worked. :(

By cutting the power wire, did you mean to cut both V+/V- wires or just V+? If I only keep D+/D- nothing happened, no new device detected on the computer; if I keep the V- (only cut V+), it goes to previous result - the car turned the dashboard off (seem like some self protection behavior).

Any other suggestions? Does this mean that I cannot use USB to hack my car with panda?

energee commented 7 years ago

You only need to cut the red 5v wire

bertramt commented 7 years ago

I may also suggest making sure to manually update the panda firmware to the latest version (1.0.1) to see if that fixes the issue.

alan707 commented 7 years ago

I connected the panda to a Ford Fusion with the USB cable and had no issues.

alan707 commented 7 years ago

@ingenieroariel any updates??

ingenieroariel commented 7 years ago

Nothing important from my side, left it aside for a few months while catching up with the day job.

I am ordering a Panda and making a custom giraffe to work in nov-dec.

Any progress on your side?

On Oct 28, 2017, at 8:06 AM, Alan Mond notifications@github.com wrote:

@ingenieroariel any updates??

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alan707 commented 7 years ago

Yes! I think I am getting very close. Will need support with porting stuff on the software side. I think this weekend I will figure out steering controls.

lemassykoi commented 7 years ago

Did you cut the wires, as Ariel ?

On Mon, Oct 30, 2017 at 7:39 PM +0100, "Alan Mond" notifications@github.com<mailto:notifications@github.com> wrote:

Yes! I think I am getting very close. Will need support with porting stuff on the software side. I think this weekend I will figure out steering controls.

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alan707 commented 7 years ago

no I have a different method buying individual components and comparing CAN messages.

r3dlobst3r commented 6 years ago

@alan707 Have you had any more progress?

0x3333 commented 6 years ago

Looking to create a task force to do this car. I know that people are looking to the bounty, but collaboration is a faster and better way to handle this. My panda hasn't arrived yet, but I got a wiring diagram and will work on "giraffe" to fusion...

davidrhode commented 6 years ago

Whats the latest? I currently have a 2017 Ford Fusion with all the "box's" checked. That I wouldn't mind letting someone use for testing. I am currently in Jacksonville, FL and travel to Asheville, NC frequently.

davidrhode commented 6 years ago

Correction if it makes a difference. 2017 Ford Fusion Energi Titanium

sakshamkota commented 6 years ago

To second davidrhode, I am located in Bothell, WA with a 2017 Fusion Energi Titanium with every option except Autobrake and Autopark. I would love to add those features though even if it means changing the existing hardware. I am also open to anyone helping me with adding these and Autopilot.

ingenieroariel commented 6 years ago

You can join the comma ai slack (#ford channel). There is quite a few of us there. A few people have started on a dbc and it is quite complete.

-a

On Dec 23, 2017, at 12:50 AM, sakshamkota notifications@github.com wrote:

To second davidrhode, I am located in Bothell, WA with a 2017 Fusion Energi Titanium with every option except Autobrake and Autopark. I would love to add those features though even if it means changing the existing hardware. I am also open to anyone helping me with adding these and Autopilot.

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alan707 commented 6 years ago

Can you share the dbc file on opendbc repo?

ingenieroariel commented 6 years ago

It’s on an opendbc fork (lemmaskoy’s i believe)

On Mon, Dec 25, 2017 at 1:51 PM Alan Mond notifications@github.com wrote:

Can you share the dbc file on opendbc repo?

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ingenieroariel commented 6 years ago

https://github.com/lemassykoi/opendbc/blob/master/ford_mondeo_WIP.dbc

davidrhode commented 6 years ago

For those of us who are less code savvy, what is a DBC?

On Mon, Dec 25, 2017 at 1:56 PM Ariel Núñez notifications@github.com wrote:

https://github.com/lemassykoi/opendbc/blob/master/ford_mondeo_WIP.dbc

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rainabba commented 6 years ago

Trying to get spun up now that I'm back and logged some 4,200 miles to Cabana with my F350 Lariat.

The general idea is that with a complete-enough dbc, we can build/run chffr-plus to begin to see something that can then be interested into open pilot? If not, can someone provide a more project-oriented overview to help understand what the challenges are? With that, maybe we can better organize going forward, but I'm ready to dig in and don't quite know where I should go from here

ingenieroariel commented 6 years ago

@rainabba I think the path you describe makes sense. I connected chffrplus to my car and the speed measurement stays at 0km/h the whole time.

I used the DBC file that I linked above and was able to get it to detect speed on a one off script running on another computer in the network and create the correct capnp message. What we need is to test that with an actual panda + chffrplus setup since I don't own a panda.

Do you have a panda + one plus 3 ? If so let me know and I'll post here a copy of the chffrplus branch I am using.

nategreco commented 6 years ago

From what I understand all Ford Fusions (at least 2013 and later) have electronically assisted power steering. Looking on rockauto and parts websites it seems nobody differentiates the steering box on a LKA and non-LKA rnabled fusion. So I'm thinking LKA is not necessary on a Fusion in order to implement openpilot and that a non-LKA car would still respond to CAN commands. Has anybody developed enough of an understanding yet to confirm if this is true?

Aryeh95 commented 6 years ago

I have a 2017 Fusion Energi Platinum and I just got a oneplus 3 and flashed chffrplus on it. My panda is coming tomorrow. Is there anything I can do to help? (I'm based in Baltimore)

Aryeh95 commented 6 years ago

I have the Panda now. It works fine with chffr but with chffrplus although it says paired instead of no car when the panda is connected via USB it won't record any panda to the trips.

energee commented 6 years ago

@Aryeh95 Can you find out more about the connectors to the stock LKAS camera, open this bezel and try to find a match on digikey or send pictures?

Aryeh95 commented 6 years ago

@energee I don't wanna break anything is there instructions on how to remove it somewhere?

commaai / openpilot

Lincoln MKZ / Ford Fusion compatibility #1