Openpilot: Lincoln MKZ / Ford Fusion compatibility

[ingenieroariel]

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

[ingenieroariel]

First thing seems to be to create a file like this one:

[ingenieroariel]

Found one here: https://bitbucket.org/DataspeedInc/dbw_mkz_ros/downloads

[jon-mullen]

That dbc's not correct for production cars, just (i assume) dataspeed's

[geohot]

Unfortunately yes, only dataspeed.

[ingenieroariel]

I have a Ford Fusion 2017 myself and will debug further next week when my oneplus three arrives.

[galv]

That dbc file won't work at all. It defines the message formats on a private CAN bus run by dataspeed. Dataspeed, as far as I know, controls the vehicle via some electromechanical methods, not just CAN codes. A node on the private CAN bus translates these messages to actual electrical signals. My guess is that the throttle is handled by controlling a voltage, but I'm not sure.

[ingenieroariel]

According to the following spreadsheet [1] available from the OpenXC website here is the information we can find on CAN1 [OBD-II pins 6 (+) and 14 (-) ]: CAN high / CAN low from ISO 15765-4 and SAE-J2284

steering_wheel_angle
engine_speed
transmission_gear_position
~gear_lever_position~
ignition_status
brake_pedal_status
~parking_brake_status~
headlamp_status
accelerator_pedal_position
torque_at_transmission
vehicle_speed
fuel_consumed_since_restart
door_status
windshield_wiper_status
odometer
high_beam_status
fuel_level
latitude
longitude
~button_event~

[1] https://docs.google.com/spreadsheets/d/1hOBi9-tFwR1KRFXfeaHTAddwJuSGx5Ir1ET4N2zWAiE/edit#gid=6

[ingenieroariel]

For people trying to help solve this issue @geohot recommended the following document:

http://www.ioactive.com/pdfs/IOActive_Adventures_in_Automotive_Networks_and_Control_Units.pdf

I personally recommend to get an OpenXC adapter from Ford instead of trying to build the NEO can adapter. I got the FORD REFERENCE VI for $130 usd at https://shop.openxcplatform.com

[ingenieroariel]

okay, I've been able to read data from the car via bluetooth and USB. So far I have only been able to get data in JSON format, but I plan to see if I can create a raw CAN dump using the kvaser leaf light.

Once I have a raw dump with the corresponding JSON dump I'll share it here.

{"value":0.0,"name":"accelerator_pedal_position","a":{"a":{"name":"accelerator_pedal_position"},"b":-951985080},"timestamp":1481910779.317} {"value":750.0,"name":"engine_speed","a":{"a":{"name":"engine_speed"},"b":1191599776},"timestamp":1481910779.319} {"value":-253.5,"name":"steering_wheel_angle","a":{"a":{"name":"steering_wheel_angle"},"b":-1273841975},"timestamp":1481910779.323} {"value":102.71772,"name":"fuel_level","a":{"a":{"name":"fuel_level"},"b":227280207},"timestamp":1481910779.323} {"value":0.027625,"name":"fuel_consumed_since_restart","a":{"a":{"name":"fuel_consumed_since_restart"},"b":989500470},"timestamp":1481910779.359} {"value":551.0,"name":"odometer","a":{"a":{"name":"odometer"},"b":2014857251},"timestamp":1481910779.368}
https://gist.github.com/ingenieroariel/ff1f4cac30e1bc5ec22f72967b1d2866

[ingenieroariel]

Here is a sample data dump from a regular ford fusion when idle. It'll be useful later when comparing with the data dump from can bus 1 after cruise control is enabled.

{"bus": 1, "data": "0x0000000000000000", "id": 65, "timestamp": 1482689993.885337}                                    
{"bus": 1, "data": "0x140401f981f70000", "id": 390, "timestamp": 1482689993.885957}
{"bus": 1, "data": "0x8c00000006500000", "id": 1068, "timestamp": 1482689993.886489}
{"bus": 1, "data": "0xa000000000000000", "id": 1109, "timestamp": 1482689993.887}
{"bus": 1, "data": "0x7ef47ef4a174f000", "id": 145, "timestamp": 1482689993.887517}
{"bus": 1, "data": "0x7d0854008c804000", "id": 130, "timestamp": 1482689993.888006}
{"bus": 1, "data": "0x7d01800023b07cd7", "id": 133, "timestamp": 1482689993.888512}
{"bus": 1, "data": "0x2000000000000000", "id": 71, "timestamp": 1482689993.888998}
{"bus": 1, "data": "0x10c0000000000000", "id": 357, "timestamp": 1482689993.889519}
{"bus": 1, "data": "0x140c000000000000", "id": 369, "timestamp": 1482689993.890035}
{"bus": 1, "data": "0x00007fe17fe10000", "id": 512, "timestamp": 1482689993.890527}
{"bus": 1, "data": "0x04f9180060000000", "id": 514, "timestamp": 1482689993.891034}
{"bus": 1, "data": "0xc0007d01b3000000", "id": 516, "timestamp": 1482689993.891495}
{"bus": 1, "data": "0x0000000097000000", "id": 560, "timestamp": 1482689993.891988}
{"bus": 1, "data": "0x7d04002e660701b4", "id": 1071, "timestamp": 1482689993.892702}
{"bus": 1, "data": "0x0100273a00000000", "id": 936, "timestamp": 1482689993.893345}
{"bus": 1, "data": "0x002220ff0ff0eeee", "id": 938, "timestamp": 1482689993.894054}
{"bus": 1, "data": "0x125f0ff078eee000", "id": 939, "timestamp": 1482689993.894706}
{"bus": 1, "data": "0x0000000000000000", "id": 66, "timestamp": 1482689993.895373}
{"bus": 1, "data": "0x7d01800022c07cd7", "id": 133, "timestamp": 1482689993.897228}
{"bus": 1, "data": "0x0000000000400000", "id": 818, "timestamp": 1482689993.898004}
{"bus": 1, "data": "0x727fff100019fb00", "id": 359, "timestamp": 1482689993.898527}
{"bus": 1, "data": "0x04f8200060000000", "id": 514, "timestamp": 1482689993.898945}
{"bus": 1, "data": "0xc0007d01b3000000", "id": 516, "timestamp": 1482689993.899377}
{"bus": 1, "data": "0x0000fb40009fe7ff", "id": 125, "timestamp": 1482689993.90242}
{"bus": 1, "data": "0x000000000000fb40", "id": 532, "timestamp": 1482689993.90312}
{"bus": 1, "data": "0x0000e0f40ffe0ffe", "id": 1045, "timestamp": 1482689993.903668}
{"bus": 1, "data": "0x01008000400000fb", "id": 1200, "timestamp": 1482689993.904254}
{"bus": 1, "data": "0x0200000000000000", "id": 819, "timestamp": 1482689993.904832}
{"bus": 1, "data": "0x0000000000000000", "id": 65, "timestamp": 1482689993.905323}
{"bus": 1, "data": "0x005021d7cf000001", "id": 578, "timestamp": 1482689993.905862}
{"bus": 1, "data": "0x140401f981f70000", "id": 390, "timestamp": 1482689993.906278}

[ingenieroariel]

Here is a full can dump with park assist activated:

   0x742000001dd20000 Bus 1: 0x166               Msgs: 735  Freq. (Hz): 2
    0x72805910001a0600 Bus 1: 0x167               Msgs: 342  Freq. (Hz): 10
    0x14803a10001a0800 Bus 1: 0x171               Msgs: 665              2
    0x00802810001a0400 Bus 1: 0x168               Msgs: 756  Freq. (Hz): 16
    0x0086c00000000000 Bus 1: 0x169               Msgs: 9    Freq. (Hz): 1
    0x002702000e95ce94 Bus 1: 0x178               Msgs: 525  Freq. (Hz): 2
    0x142402000e930000 Bus 1: 0x186               Msgs: 245  Freq. (Hz): 6
    0x1a0801fd0e920943 Bus 1: 0x179               Msgs: 72   Freq. (Hz): 2
    0x0a0640f981f700fc Bus 1: 0x202               Msgs: 572  Freq. (Hz): 3
    0x000080f981f70000 Bus 1: 0x200               Msgs: 374  Freq. (Hz): 11
    0xfcf4802f802fff41 Bus 1: 0x213               Msgs: 292  Freq. (Hz): 6
    0xccfa100175000000 Bus 1: 0x204               Msgs: 703  Freq. (Hz): 17
    0x000000007b00f4b0 Bus 1: 0x214               Msgs: 155  Freq. (Hz): 4
    0x0000000082000960 Bus 1: 0x216               Msgs: 454  Freq. (Hz): 14
    0x0000000000000c30 Bus 1: 0x217               Msgs: 455  Freq. (Hz): 14
    0xc1014b3931485232 Bus 1: 0x40a               Msgs: 436  Freq. (Hz): 13
    0x1006000097000000 Bus 1: 0x230               Msgs: 785  Freq. (Hz): 19
    0xe0022046d8000001 Bus 1: 0x242               Msgs: 96   Freq. (Hz): 2
    0x00002034d6000000 Bus 1: 0x261               Msgs: 180  Freq. (Hz): 4
    0x0000000000000000 Bus 1: 0x262               Msgs: 53   Freq. (Hz): 1
    0x0000510000000100 Bus 1: 0x2f1               Msgs: 46   Freq. (Hz): 1
    0x81a025b981c400c8 Bus 1: 0x326               Msgs: 75   Freq. (Hz): 1
    0xc01d5629047c9422 Bus 1: 0x331               Msgs: 73   Freq. (Hz): 2
    0x0000000900000000 Bus 1: 0x332               Msgs: 15   Freq. (Hz): 1
    0x0000000000000000 Bus 1: 0x333               Msgs: 61   Freq. (Hz): 1
    0x03fe00ffffff0400 Bus 1: 0x336               Msgs: 78   Freq. (Hz): 2
    0x00c0006aa7343000 Bus 1: 0x35e               Msgs: 12   Freq. (Hz): 1
    0x0000000906000000 Bus 1: 0x37b               Msgs: 90   Freq. (Hz): 1
    0x0000000000000000 Bus 1: 0x386               Msgs: 68   Freq. (Hz): 1
    0x2000000000000000 Bus 1: 0x38d               Msgs: 7    Freq. (Hz): 1
    0x1a00b80b00000000 Bus 1: 0x3a8               Msgs: 865  Freq. (Hz): 3
    0x0a00afdc0ff00000 Bus 1: 0x3aa               Msgs: 327  Freq. (Hz): 9
    0x12ff0ff040000000 Bus 1: 0x3ab               Msgs: 31   Freq. (Hz): 1
    0x4488c20c10000002 Bus 1: 0x3b3               Msgs: 24   Freq. (Hz): 1
    0x401111ff25250000 Bus 1: 0x3b4               Msgs: 16
    0x011c0121011b0112 Bus 1: 0x3b5               Msgs: 5    Freq. (Hz): 1
    0x08000b0000000000 Bus 1: 0x3b6               Msgs: 17   Freq. (Hz): 1
    0x0000090000000000 Bus 1: 0x3b7               Msgs: 28   Freq. (Hz): 1
    0xfffff3ff00005f8c Bus 1: 0x3b8               Msgs: 69   Freq. (Hz): 1
    0x5cc3000000000000 Bus 1: 0x3c3               Msgs: 14   Freq. (Hz): 1
    0x0003080400000000 Bus 1: 0x3c7               Msgs: 7    Freq. (Hz): 1
    0x0164000000000000 Bus 1: 0x3da               Msgs: 10   Freq. (Hz): 1
    0x0000000080000000 Bus 1: 0x3e0               Msgs: 5    Freq. (Hz): 1
    0x8000010701800000 Bus 1: 0x3e1               Msgs: 8    Freq. (Hz): 1
    0x0000000080000000 Bus 1: 0x3e2               Msgs: 6
    0x0001041380016400 Bus 1: 0x3e3               Msgs: 4    Freq. (Hz): 1
    0xc20414080f200000 Bus 1: 0x3eb               Msgs: 50   Freq. (Hz): 1
    0x0000000000006000 Bus 1: 0x3ea               Msgs: 3    Freq. (Hz): 1
    0x01023130163639ff Bus 1: 0x415               Msgs: 24   Freq. (Hz): 16
    0x0104014107f670c1 Bus 1: 0x41                Msgs: 47   Freq. (Hz): 1
    0x8000e0f400000000 Bus 1: 0x41d               Msgs: 106              3
    0x9a00d4f701000000 Bus 1: 0x416               Msgs: 359  Freq. (Hz): 9
    0x8100fc0006600000 Bus 1: 0x42c               Msgs: 652  Freq. (Hz): 2
    0x0000000000000000 Bus 1: 0x42                Msgs: 342  Freq. (Hz): 9
    0x0200900000009300 Bus 1: 0x421               Msgs: 74   Freq. (Hz): 1
    0x2000000000000700 Bus 1: 0x47                Msgs: 43   Freq. (Hz): 2
    0x00031f000000f000 Bus 1: 0x42d               Msgs: 144  Freq. (Hz): 3
    0x7d04002e66270176 Bus 1: 0x42f               Msgs: 346  Freq. (Hz): 2
    0x83000303861f0176 Bus 1: 0x430               Msgs: 214  Freq. (Hz): 5
    0x23e374000fff0203 Bus 1: 0x434               Msgs: 65   Freq. (Hz): 1
    0x28231097e1000103 Bus 1: 0x435               Msgs: 56   Freq. (Hz): 1
    0x2820189f00000000 Bus 1: 0x439               Msgs: 55   Freq. (Hz): 1
    0x3218506a38dd7414 Bus 1: 0x43c               Msgs: 6    Freq. (Hz): 1
    0x004b769000000000 Bus 1: 0x43d               Msgs: 68   Freq. (Hz): 2
    0x0046738d00000000 Bus 1: 0x43e               Msgs: 103  Freq. (Hz): 2
    0x2273000004000000 Bus 1: 0x447               Msgs: 104  Freq. (Hz): 2
    0xa000000000000000 Bus 1: 0x455               Msgs: 74   Freq. (Hz): 1
    0x8000000000000000 Bus 1: 0x456               Msgs: 55   Freq. (Hz): 2
    0x63ee411234f08f88 Bus 1: 0x465               Msgs: 5    Freq. (Hz): 1
    0xb0d46c29b0b03000 Bus 1: 0x466               Msgs: 9    Freq. (Hz): 1
    0x8a80943509001820 Bus 1: 0x467               Msgs: 7    Freq. (Hz): 1
    0x9200800060141874 Bus 1: 0x4b0               Msgs: 900  Freq. (Hz): 4
    0x0200000000000000 Bus 1: 0x4a                Msgs: 367  Freq. (Hz): 10
    0x00c0d8d8d8d8c000 Bus 1: 0x4b                Msgs: 69   Freq. (Hz): 1
    0x0000004540144071 Bus 1: 0x5a                Msgs: 650  Freq. (Hz): 3
    0x20afffc030143074 Bus 1: 0x4c                Msgs: 318  Freq. (Hz): 11
    0x8100ffffffffffff Bus 1: 0x581               Msgs: 64   Freq. (Hz): 1
    0x9500ffffffffffff Bus 1: 0x595               Msgs: 9
    0x9e00ffffffffffff Bus 1: 0x59e               Msgs: 4    Freq. (Hz): 1
    0x2d18c015eddf0000 Bus 1: 0x76                Msgs: 69   Freq. (Hz): 1
    0xb200ff15f19fffff Bus 1: 0x5b2               Msgs: 97   Freq. (Hz): 2
    0x001000fb201e0000 Bus 1: 0x5c                Msgs: 81   Freq. (Hz): 1
    0x00d000ef201e0000 Bus 1: 0x5d                Msgs: 78   Freq. (Hz): 2
    0x421f8628b0f7fdff Bus 1: 0x77                Msgs: 941  Freq. (Hz): 2
    0x451578027ff7f9ff Bus 1: 0x7d                Msgs: 451              12
    0x5c6878027ff7f9ff Bus 1: 0x85                Msgs: 453  Freq. (Hz): 13
    0x84067431431ff800 Bus 1: 0x82                Msgs: 459  Freq. (Hz): 14
    0x83089bfc8e000000 Bus 1: 0x83                Msgs: 378  Freq. (Hz): 13
    0x10000168341e1100 Bus 1: 0x84                Msgs: 73   Freq. (Hz): 2
    0x7ccb800075266dd6 Bus 1: 0x91                Msgs: 105              5
      74bb800083906dd7                                  744  Freq. (Hz): 24
    0x6ef87f017f8456c5 Bus 1: 0x92                Msgs: 290  Freq. (Hz): 7
        9f6f99736f9f7f   

If anyone wants to help me out identify what is what, be my guest. My next target is finding a can bus directly on the front camera.

PS: Not sure what the right etiquette for this project is, if I am spamming too much please let me know and I'll do less frequent updates.

[adam-nelson]

You reckon this the same system for all ford vehicles.

I could try this in a focus

[ingenieroariel]

I have connected the openxc device to the car and to the oneplus 3 via usb OTG. Next is looking into boardd and trying to read the JSON encoded raw can output coming from the openxc adapter.

[ingenieroariel]

Okay, after cutting the wires from the canbus that went to the camera I was able to write a few packets that changed the left arrow keys on my wheel control.

When connecting the camera again I got the following id codes that are potentially related to LKAS and collision assist.

3ca
3cd
3d8

I'll collect data from just those 3 codes on a longer ride today. Is anyone interested in helping me decode them?

Here is a sample in SocketCan format:

(1484854733.03) can1 3ca#fe7e458200000000
(1484854733.04) can1 3cd#0000000000000000
(1484854733.04) can1 3d8#0000000080456030
(1484854733.06) can1 3ca#fe7e458200000000
(1484854733.08) can1 3ca#fe7e458200000000
(1484854733.12) can1 3ca#fe7e458200000000
(1484854733.14) can1 3ca#fe7e458200000000
(1484854733.18) can1 3ca#fe7e458200000000
(1484854733.2) can1 3ca#fe7e458200000000
(1484854733.24) can1 3ca#fe7e458200000000
(1484854733.26) can1 3ca#fe7e458200000000
(1484854733.3) can1 3ca#fe7e458200000000
(1484854733.32) can1 3ca#fe7e458200000000
(1484854733.36) can1 3ca#fe7e458200000000
(1484854733.38) can1 3ca#fe7e458200000000
(1484854733.42) can1 3ca#fe7e458200000000
(1484854733.44) can1 3ca#fe7e458200000000
(1484854733.48) can1 3ca#fe7e458200000000
(1484854733.5) can1 3ca#fe7e458200000000
(1484854733.54) can1 3ca#fe7e458200000000
(1484854733.56) can1 3ca#fe7e458200000000
(1484854733.6) can1 3ca#fe7e458200000000
(1484854733.62) can1 3ca#fe7e458200000000
(1484854733.66) can1 3ca#fe7e458200000000
(1484854733.68) can1 3ca#fe7e458200000000
(1484854733.72) can1 3ca#fe7e458200000000
(1484854733.74) can1 3ca#fe7e458200000000
(1484854733.78) can1 3ca#fe7e458200000000
(1484854733.8) can1 3ca#fe7e458200000000
(1484854733.84) can1 3ca#fe7e458200000000
(1484854733.86) can1 3ca#fe7e458200000000
(1484854733.9) can1 3ca#fe7e458200000000
(1484854733.93) can1 3ca#fe7e458200000000
(1484854733.96) can1 3ca#fe7e458200000000
(1484854733.98) can1 3ca#fe7e458200000000
(1484854734.02) can1 3ca#fe7e458200000000
(1484854734.04) can1 3cd#0000000000000000
(1484854734.04) can1 3d8#0000000080456030
(1484854734.05) can1 3ca#fe7e458200000000
(1484854734.08) can1 3ca#fe7e458200000000
(1484854734.1) can1 3ca#fe7e458200000000
(1484854734.14) can1 3ca#fe7e458200000000
(1484854734.16) can1 3ca#fe7e458200000000
(1484854734.2) can1 3ca#fe7e458200000000
(1484854734.23) can1 3ca#fe7e458200000000
(1484854734.26) can1 3ca#fe7e458200000000
(1484854734.28) can1 3ca#fe7e458200000000
(1484854734.31) can1 3ca#fe7e458200000000
(1484854734.35) can1 3ca#fe7e458200000000
(1484854734.38) can1 3ca#fe7e458200000000
(1484854734.41) can1 3ca#fe7e458200000000
(1484854734.44) can1 3ca#fe7e458200000000
(1484854734.47) can1 3ca#fe7e458200000000
(1484854734.5) can1 3ca#fe7e458200000000
(1484854734.52) can1 3ca#fe7e458200000000
(1484854734.56) can1 3ca#fe7e458200000000
(1484854734.58) can1 3ca#fe7e458200000000
(1484854734.62) can1 3ca#fe7e458200000000
(1484854734.64) can1 3ca#fe7e458200000000
(1484854734.68) can1 3ca#fe7e458200000000
(1484854734.7) can1 3ca#fe7e458200000000
(1484854734.74) can1 3ca#fe7e458200000000
(1484854734.76) can1 3ca#fe7e458200000000
(1484854734.8) can1 3ca#fe7e458200000000
(1484854734.82) can1 3ca#fe7e458200000000
(1484854734.86) can1 3ca#fe7e458200000000
(1484854734.88) can1 3ca#fe7e458200000000
(1484854734.92) can1 3ca#fe7e458200000000
(1484854734.94) can1 3ca#fe7e458200000000
(1484854734.98) can1 3ca#fe7e458200000000
(1484854735.0) can1 3ca#fe7e458200000000
(1484854735.04) can1 3ca#fe7e458200000000
(1484854735.04) can1 3cd#0000000000000000
(1484854735.04) can1 3d8#0000000080456030
(1484854735.06) can1 3ca#fe7e458200000000
(1484854735.1) can1 3ca#fe7e458200000000
(1484854735.12) can1 3ca#fe7e458200000000
(1484854735.16) can1 3ca#fe7e458200000000
(1484854735.18) can1 3ca#fe7e458200000000
(1484854735.22) can1 3ca#fe7e458200000000

[ingenieroariel]

BTW, here is a list of all the packet ids that are NOT coming from the front camera:

background_ids = ['047', '04a', '04b', '04c', '05a', '05c', '05d', '076', '077', '078', '07d', '081', '082', '083', '084', '085', '091', '092', '165', '167', '168', '169', '178', '186', '187', '188', '18a', '200', '202', '204', '213', '214', '216', '217', '230', '242', '261', '265', '2a1', '33b', '350', '3a6', '3a7', '3a8', '3b3', '3c3', '3cc', '3e0', '3e2', '3e5', '3e6', '3eb', '40a', '415', '416', '41d', '41e', '422', '423', '42c', '42f', '430', '431', '43a', '453', '454', '455', '456', '4b0', '593', '596', '59e', '5b3', '5b5']

[ingenieroariel]

I may be wrong but here is what I think based on enabling LKAS on the road.

This message may mean LKAS is enabled but no lane has been found:

3d8#0000000080456030

In this frame LKAS found me drifting away from my lane and trying to get me back on track.

(1484874055.46) can0 3d8#0000000080456030
(1484874056.46) can0 3d8#0000000080456030
(1484874057.46) can0 3d8#0000000080456030
(1484874058.26) can0 3d8#0000000080856030
(1484874058.46) can0 3d8#0000000080856030
(1484874059.46) can0 3d8#0000000080856030
(1484874060.46) can0 3d8#0000000080856030
(1484874061.46) can0 3d8#0000000080856030
(1484874061.64) can0 3d8#0000000080855830
(1484874062.46) can0 3d8#0000000080855830
(1484874062.49) can0 3d8#0000000080856030
(1484874063.46) can0 3d8#0000000080856030
(1484874063.64) can0 3d8#0000000080855830
(1484874064.46) can0 3d8#0000000080855830
(1484874065.46) can0 3d8#0000000080855830
(1484874065.76) can0 3d8#0000000080853030
(1484874066.46) can0 3d8#0000000080853030
(1484874067.46) can0 3d8#0000000080853030
(1484874068.46) can0 3d8#0000000080853030
(1484874069.46) can0 3d8#0000000080853030
(1484874070.46) can0 3d8#0000000080853030
(1484874071.36) can0 3d8#0000000080c53030
(1484874071.46) can0 3d8#0000000080c53030
(1484874072.46) can0 3d8#0000000080c53030
(1484874073.46) can0 3d8#0000000080c53030
(1484874074.46) can0 3d8#0000000080c53030
(1484874075.46) can0 3d8#0000000080c53030
(1484874076.46) can0 3d8#0000000080c53030
(1484874077.46) can0 3d8#0000000080c53030
(1484874078.46) can0 3d8#0000000080c53030
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(1484874229.47) can0 3d8#0000000080446030

[adam-nelson]

What the latest update?

[ingenieroariel]

I figured out for ACC which frames report the steering wheel buttons are pressed (0x91) and the one that reports ACC being enabled, the brake or gas peal being pressed and which speed the ACC is set to (0x165).

For LKAS this one reports if it is on or not (0x3d8) and also seems to report info from other sensors, but I need to wait until I drive with a sidekick to learn more.

The only frame I have been able to spoof is (0x82) to interact with the arrow buttons on the steering wheel. Will keep at it and report back.

I am doing all this with an openxc adapter spitting out raw can encoded as JSON conected to my Macbook 12". There are several ways I can use to get data faster:

1. Continue compiling the openxc adapter to ignore a lot of frames and only let few of them pass through. This has been what helped me make progress and the openxc-dashboard and openxc-dump loose a lot of packets when too much info is sent.
2. Switch my openxc adapter to protobuf or messagepack.
3. Wait for the mini cantact I ordered, that one will connect directly to the linux kernel as a SocketCan adapter.
4. Wait for the NEO that's coming from San Diego
5. Build a PCB locally and put the NEO parts I already have.
6. Make the Kvaser Leaf Light v2 I have work with SocketCan.
7. Fly an experienced car hacker, his laptop and his can adapter to Colombia for a couple of days (I've actually offered this to a couple of people but no luck yet :) )

[TheMutley]

if you have a kvaser interface why are you still using the open-xc interface ? Option number 5 is probably your best bet for reverse engineering you can't afford more expensive tools.

[ingenieroariel]

It has been mainly logistics. Socketcan does not work on OSX and that's the only laptop I own.

I'll install linux on my laptop and try to get the kvaser working this week, thanks for the hint. When I first tried it I could not get candump to work with it (kvaser driver vs linux built in driver, no termination resistor on my cable, etc)

[adam-nelson]

From what I've seen ford supports the OpenXC adaptor

[adam-nelson]

@geohot Have you thought about hiring yourself/team out for a fee?

In the case of some members on github suggesting to fly people out

[geohot]

We are open to people funding ports

[ToddGore]

I've been a little hesitant to post about can bus codes, but here goes. I also have a Ford Fusion. It's a 2013. It has the parking assist and lane keep assist.

[ToddGore]

That connector is for the lane keep assist camera.

[ToddGore]

I was also able to find a program that converts .dbc files to Excel. I converted the ADAS_Kit_20161206 DataspeedByWire.dbc to this.
DataspeedByWire.xlsx

The codes in this Excel sheet don't seem to be compatible with my Ford Fusion though.

[ToddGore]

[ToddGore]

Still working on this.

[ingenieroariel]

That excel file is very good to have a layman understanding of each of the dbc rows.

Your connector does not seem to have the 1.7v and 3.3v lines I found on my car but the others are in the same place.

The 0x3d8 command does the same thing mine does. Thanks for sharing Todd!

-a

On Jan 25, 2017, at 6:49 PM, Todd Gore [e-mail] wrote:

Still working on this.

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[ToddGore]

The .dbc tool that I used is called CANTool. http://www.ingenieurbuerobecker.de/products.html
It's works with excel. Be sure to use the BETA version 4. Also the website is in German! Google translate to the rescue.

[ingenieroariel]

Another update,

We finally got the Kvaser Leaf Light v2 to work (after adding a 120 ohm resistor and getting rid of the proprietary drivers in exchange for the ones built in latest linux kernel). Thanks @TheMutley

Instead of going straight for the DBC, we are using a python dict as defined by Canard/Pyvit and will convert to DBC later if needed.

For now the goal is to create a small python project that speaks socket can on one end and talks capnp on the other end as a 'remote' boardd running on a cheap dell laptop + the kvaser and ubuntu 16.04.

https://github.com/autti/veloz/blob/master/filterlog.py

DECODER = {
     "messages": [
         {
         "name": "Steering Report",
         "id": "0x3A8",
         "signals": {
                     "16": {"name": "Steering Angle", "bit_length": 16},
                    }
         }
     ]
 }

Unfortunately pyvit is GPLv3 licensed but we asked nicely if some parts of it could be relicensed, in any case that is not relevant to openpilot as our patch when we finish will be a clean DBC and the fusion implementation.

If anyone wants to collaborate just join Udacity's ND013 slack and go to the #abraham channel.

[ingenieroariel]

This is the same thing using capnp with the car.capnp found on OpenPilot's repo.

Focusing on CarState first, then we'll work on the Sensor one and finally on the CarControl

( vEgo = 0, gas = 0, gasPressed = false, brake = 0, brakePressed = false, steeringAngle = 32020, steeringTorque = 0, steeringPressed = false )

The angle is still on the units they provide instead of deg.

[eldarial]

Ariel, Todd,

this moves the steering wheel

cansend can0 415#1A0ED8CE07FB07FB

[ingenieroariel]

Here is a video: https://www.youtube.com/watch?v=QgmAEeaN_b0

And this is the code we used:
https://github.com/autti/veloz/blob/master/send_command.py

[ingenieroariel]

And here are all the messages we have been able to decode so far: https://docs.google.com/spreadsheets/d/18nHRuRQi4wzUq77X90SLxduJEEQDZcy8s8bXalCvLtw/edit#gid=0

[ingenieroariel]

After trying different frequencies when sending those messages we discovered a few things:

1. When we replay the messages at a slow speed: the speed meter moves a bit and then steering wheel moves a bit.
2. When we replay the messages at high speed: the speed meter stays at 70km/h and the wheel does not turn, but it is stiff.

This means that the wheel moving with that message was only a happy accident, a side effect of making the car think it was going at high speed was sending a small torque to the steering wheel that caused it to rock a bit. Thanks to @TheMutley for his help asking the right questions.

Good news is that at least we know we can read and write messages fast enough to the car's bus with the hardware we have (cheap dell laptop and the kvaser leaf light v2 with a home made 120 ohm terminator between canh and canl and a DB9 connector connected to the front camera of the car).

Bad news is still we have not decoded the 3 main things we need: gas, brake, steering.

[ingenieroariel]

Some news, we have been able to make the car accelerate and brake on demand by playing with the #415 (Speed report), if we make the car believe it is going faster, it brakes, if we make the car believe it is going slower, it accelerates.

With this we have been able to isolate a signal that brakes the car but the experiments cause the car to label the ACC (and 7 other systems, hill assist, collision prevent, assisted parking) as not working and I need to reset them via OBD. The painful way has been to actually go to the dealer.

The big change is doing the experiments when driving the car over 30km/h. Reading now about OBD to be able to reset the systems after braking them. If your car complains and disable an specific system because of calls you have been sending, that's a good sign you are onto a juicy command. In our case it's their the front sensors or the actual brake command. Here they are:

0x85
0x186

We have tested on the field that the Lincoln MKZ and the Ford Fusion have the exact same codes. This one moves the steering wheel when in park assist mode:

076

[davedave1234]

This is great progress, I am 100% new here and am considering a Fusion and if this works out I will definitely buy one. How is it going, anything new to report?

Thank you for your efforts on this.

[alan707]

I built a 2016 Ford Fusion instrument cluster (dashboard), body control module, sync module and radio. All 4 CAN buses are exposed (HS1, HS2, HS3, and MS) so if anyone needs to run a test for a particular CAN message I can reproduce/verify the ID and data on this test bench and report back.

Probably most useful is to verify that something is happening on the instrument cluster, like specific messages being disabled, etc.

[adam-nelson]

How did you find all the parts for that?

On Tue, May 2, 2017 at 6:44 PM, Alan Mond [e-mail] wrote:

I built a 2016 Ford Fusion instrument cluster (dashboard), body control
module, sync module and radio. All 4 CAN buses are exposed (HS1, HS2, HS3,
and MS) so if anyone needs to run a test for a particular CAN message I can
reproduce/verify the ID and data on this test bench and report back.

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[alan707]

Junkyards. This is the 4th custom test bench I've built so far. Today I was able to get all CAN buses connected and working for the Fusion so I thought people might be interested.

[adam-nelson]

how much did it all cost.

I've seen these offical setups at defcon

On Tue, May 2, 2017 at 6:53 PM, Alan Mond [e-mail] wrote:

Junkyards. This is the 4th custom test bench I've built so far. Today I
was able to get all CAN buses connected and working for the Fusion so I
thought people might be interested.

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[davedave1234]

Awesome, hopefully this will help ingenieroariel find and research what he needs to get this functional.

[ingenieroariel]

Hey @alan707, thanks for the offer.

0x3D8 is the command that comes from the car's front camera and causes the dashboard to show green, yellow or red. I'd love to know how the rest of the car reacts to it, in particular if it is directly responsible for waking up another code that applies torque to the steering wheel.

https://github.com/autti/abraham/issues/45
When I start spoofing those my car locks up and declares the module as not working, so all my focus so far has been on creating 'gateway' or 'firewall' modules with dual can controllers.

On the following repo there is one github issue for each code I have seen on my bus, along with tags for how often they appear, any info you can add to them would be great:

https://github.com/autti/abraham/issues/

[alan707]

OK, I'll take a look - what frequency is the label referring to?

[ingenieroariel]

That frequency label is how often it appears on a dump from the bus connected to the camera module. We created it to be tell apart common signals from rare ones.

On May 2, 2017, at 11:14 AM, Alan Mond [e-mail] wrote:

OK, I'll take a look - what frequency is the label referring to?

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[alan707]

I sent CAN Message ID 0x3D8 every 10 ms and it did exactly what the description on issue 45 said it was going to do. I didn't see any other messages pop-up. However, keep in mind, this is what I currently have connected on CAN High Speed 3 (HS3):

• Sync 3 Module
• Instrument Cluster
• Body Control Module

According to the 2016 Fusion Wiring Diagram, the BCM should actually be connected on the HS1 bus to the Sync Module, but I had to wire it to HS3 just to get it to turn on.

Most other components that might react to to a Lane Keep CAN message are either in HS2 or MS (Medium Speed CAN bus).

[alan707]

Whenever I replay a candump with canplayer from can-utils, I get this error:
sendto: No buffer space available

Does anyone know how to fix this?

[ingenieroariel]

Yes, the same happened to me with openxc, cantact and kvaser with the linuxcan drivers. My solution was to switch to kvaser's private driver that blacklists the one Ubuntu configures automatically.

With that change the connection keeps open and I can send whatever I want without the buffer running out of space. The problem is that I have to so gymnastics to pipe things back to cansnifer via a virtual can.

-a

On May 2, 2017, at 5:12 PM, Alan Mond [e-mail] wrote:

Whenever I replay a candump with canplayer from can-utils, I get this error:
sendto: No buffer space available

Does anyone know how to fix this?

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[alan707]

hopefully they can recommend a solution: https://github.com/linux-can/can-utils/issues/40

[alan707]

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]

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]

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]

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]

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]

So thats the car driving itself?

On Thu, Jun 15, 2017 at 6:06 AM, Ariel Núñez [e-mail]
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]

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 [e-mail] wrote:

So thats the car driving itself?

On Thu, Jun 15, 2017 at 6:06 AM, Ariel Núñez [e-mail]
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]

Well this is good news

@geohots should be happy

On Thu, Jun 15, 2017 at 8:58 PM, Ariel Núñez [e-mail]
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 [e-mail]
wrote:

So thats the car driving itself?

On Thu, Jun 15, 2017 at 6:06 AM, Ariel Núñez [e-mail]
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]

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:

042
047
048
04A
04B
04C
05A
05C
05D
076
077
078
07D
081
082
083
084
085
091
092
108
109
14C
156
165
166
167
168
169
171
178
179
186
187
188
18A
18B
192
19A
1E6
200
202
204
20A
213
214
215
216
217
220
221
222
223
224
225
227
228
229
22C
230
242
261
262
265
276
277
279
287
290
2A0
2A1
2A4
2AC
2B1
2B4
2C0
2D0
2D1
2D2
2D5
2D6
2D7
2D8
2D9
2DA
2DB
2DC
2DE
2E0
2E3
2E6
2EE
2F1
2F2
2F3
2F4
2F5
2F6
2F7
2F8
2F9
2FD
303
307
30A
30F
313
315
316
317
318
320
321
326
331
332
333
336
33B
346
348
34E
350
353
35B
35E
360
361
362
37B
386
38A
38D
3A6
3A7
3A8
3AA
3AB
3B2
3B3
3B4
3B5
3B6
3B7
3B8
3C3
3C7
3C8
3CA
3CC
3CD
3D0
3D8
3DA
3DE
3E0
3E1
3E2
3E3
3E5
3E6
3E7
3E8
3EA
3EB
3EC
3F0
3F1
3FB
40A
412
415
416
41D
41E
421
422
423
42C
42D
42F
430
431
432
433
434
435
439
43A
43C
43D
43E
447
453
454
455
456
45A
45E
462
463
464
465
466
467
46A
46B
470
4A2
4B0
4D0
51E
581
591
593
595
596
59E
5B2
5B3
5B5
5C6
5E2

[adam-nelson]

Does the fusion have a sync system?

[ingenieroariel]

SYNC3

-a

On Jul 11, 2017, at 3:47 AM, Adam Nelson [e-mail] wrote:

Does the fusion have a sync system?

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[ankita9017]

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

[lemassykoi]

@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]

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 [e-mail] 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]

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]

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 [e-mail] 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]

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]

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

[gekowa]

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]

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]

@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]

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]

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

[energee]

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

[gekowa]

@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]

You only need to cut the red 5v wire

[bertramt]

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]

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

[alan707]

@ingenieroariel any updates??

[ingenieroariel]

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 [e-mail] wrote:

@ingenieroariel any updates??

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[alan707]

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]

Did you cut the wires, as Ariel ?

On Mon, Oct 30, 2017 at 7:39 PM +0100, "Alan Mond" <[email protected][e-mail]> 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]

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

[r3dlobst3r]

@alan707 Have you had any more progress?

[0x3333]

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]

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]

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

[sakshamkota]

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]

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 [e-mail] 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]

Can you share the dbc file on opendbc repo?

[ingenieroariel]

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

On Mon, Dec 25, 2017 at 1:51 PM Alan Mond [e-mail] wrote:

Can you share the dbc file on opendbc repo?

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[ingenieroariel]

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

[davidrhode]

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

On Mon, Dec 25, 2017 at 1:56 PM Ariel Núñez [e-mail]
wrote:

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

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[rainabba]

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]

@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]

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]

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]

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]

@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]

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

[Aryeh95]

Never mind I got it.
https://imgur.com/a/YdPTs
This harness splits off to both the rain sensor and the camera module.

[eleben]

@geohot - did you end up with a Ford Fusion Hybrid or Ford Fusion Energi?

[pd0wm]

This issue has been inactive for a while so I'll close it.

We ended up buying a Ford Fusion and tried porting openpilot. But due to a weird cutout in the steering after a few seconds we had to give up on the port and sold the Fusion.

[tomjdickson]

This issue has been inactive for a while so I'll close it.

We ended up buying a Ford Fusion and tried porting openpilot. But due to a weird cutout in the steering after a few seconds we had to give up on the port and sold the Fusion.

Do you have any documentation on how far you guys got, I want to give it a crack. From my understanding the EPS Timer cuts you out every 10 seconds.

[ToddGore]

I also sold my Fusion. Left the bay area and lived on savings while I attended a full stack React software bootcamp. Couldn't find a job in time. Returned to the bay area. I can't seem to escape my desire for machine learning and autonomous vehicles so now I own a Velodyn HDL64. Might buy a VLP-16 today and I have an oscilloscope that can decode canbus signals. I can actually use this at work though, some medical devices use canbus! I don't think I'll be working on this Lincoln MKZ issue anytime soon. If you have any deep learning or hardware hacking projects you could use help with I would love to help. Thanks

[StaffanMaynard]

I recently bought a 2017 Ford Fusion Energi titanium and I'm curious if there's been any progress by means of compatibility of the comma.ai OnePilot or Comma2 devices. I know that Ford is one of the only companies who's EPS cuts out after 10 seconds, rendering the device useless or hazardous on long turns. I've never done coding before either but I definitely want to try and get the device integrated into my vehicle somehow.

[freewil]

I know that Ford is one of the only companies who's EPS cuts out after 10 seconds

I've got a 2016 Mustang. I'd be interested in trying to add support for it, but this sounds like it's probably a dead-end?

[roxasthenobody98]

@freewil @StaffanMaynard @tomjdickson Check #ford on Discord. There's been some good developments