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version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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2.1 KiB
Markdown
52 lines
2.1 KiB
Markdown
# What is a car port?
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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:
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* existing openpilot support for similar cars
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* architecture and APIs available in the car
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# Structure of a car port
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All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
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## opendbc
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Each car brand is supported by a standard interface structure in `opendbc/car/[brand]`:
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* `interface.py`: Interface for the car, defines the CarInterface class
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* `carstate.py`: Reads CAN messages from the car and builds openpilot CarState messages
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* `carcontroller.py`: Control logic for executing openpilot CarControl actions on the car
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* `[brand]can.py`: Composes CAN messages for carcontroller to send
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* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
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* `radar_interface.py`: Interface for parsing radar points from the car, if applicable
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## safety
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* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
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* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
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## openpilot
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For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
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* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic
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# How do I port car?
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[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:
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https://www.youtube.com/watch?v=XxPS5TpTUnI
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## Brand Port
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A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
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Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
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## Model Port
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A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
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Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
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