Comma devkit

The Comma devkit (two or three) is the name associated in the Comma.ai community to the device that sits in your windshield and does all the calculations for LKA and ACC.

Comma DevKit

The EON Gold (and Comma two) is based on the Qualcom Snapdragon 821 mobile platform. Phones like LeEco LePro3 have been used to create the FrEON (the free EON). You can find some instructions here. You would also need a Black Panda in order to have a kit similar to the Comma two or Comma three.

If you choose to buy your Comma two or Comma three already made, you can do so from Comma.ai store for $999 USD and up, depending on version. Support for Comma two is supposed to end in summer of 2022.

Also, keeping the phone screen off helps keeping the temperature low. I know, in the beginning one wants to see those lines matching the lines in the video, but after a while you stop paying attention to the screen. And if you have the IC integration all the data is on IC anyway. So turn that screen off and you will see the temperature drop about 15F.

Installing the Comma devkit

Comma devkit installation is pretty simple. Your main objective is to ensure the Comma devkit is level with the ground, and pointed as straight as you can get it. Also do make sure the camera on the left side of the devkit (which is used for driver monitoring) can see you well. If you're uncomfortable "eyeballing it," you may want to use:

• A measuring tape
• A roll of masking tape
• A friend to help

Instructions

1. Find a place at the bottom of the windshield, along the driver's side pillar that has a similar position on the passenger side (such as the place where the corner of the front hood meets the fender).
2. With the tape starting from that point, mark 3 places along the side of the windshield. Use the edge of the masking tape to mark them. I personally used 3" from the bottom, the top of the windshield and then about 1/3 from the bottom, 2/3 from the top. It does not matter what the measuring tape says, as long as it says the SAME distance on driver's and passenger's sides.
3. Repeat the process on the other side of the windshield, ensuring you mark the same spots.
4. measure the distance between one edge of the windshield and the other end, keeping the tape at each pair of marked points from before. use masking tape to mark the middle of the windshield. again, use the EDGE of the tape, not the center.
5. Now use a long piece of masking tape to mark the center of the windshield from top to bottom. This (if you did everything correctly) will cover all 3 of your markers from before and provide a straight line. One edge of the masking tape is now the perfect middle of the windshield. Your mount will have to be aligned with that for a perfect position.
6. Take a small piece of tape and mark the middle of the Comma mount. use a slightly longer piece than the mount (maybe 1/4-1/2" more on each side) and ensure it is straight and down the middle of the Comma mount. If, when looking from inside of the car, your tape is to the RIGHT of the center, then put the tape on the LEFT side of the mount. Reverse if the other way.
7. Using your Comma devkit without the mounting bracket, determine the location along the center of the windshield where you want it placed. Make sure the grove on the support is alongside the center of the windshield. use a small piece of masking tape to mark the upper part of the position where you want your Comma devkit to be.
8. Remove the RED protective tape from the back of the 3M adhesive and be ready to place the Comma mount on the windshield. Align the masking tape we placed on the Comma mount on the inside with the masking tape we have on the outside of the windshield. They should not overlap at all AND you should not see light either. when you are confident on the position press hard on the mount.
9. Remove all masking tape. You are done. You now have a perfectly centered, perfectly vertical Comma devkit.

preAP Model S only: Hide the Thuderbolt3 cable above the Headliner

1. Pull your Thunderbolt3 cable from the footwell gap (where the OBDII port with a Tinkla OBD-C Adapter is) up to where the "A" pillar is...
2. Follow the instructions to remove the air bag cover from the "A" pillar
3. Pull the cable up the height of the "A" pillar across to the mirror holding it close to the headliner. Adjust the length to reach where you will place your Comma devkit.
4. Drape the Thuderbolt3 end over the rear view mirror.
5. Move to the corner where the headliner and the removed airbag panel intersect, this corner is the easiest place to stick a pry tool... Using your pry tool lift the corner and move the pry-tool along the top of the windshield tucking the wire into the headliner as you go. When you reach the mirror base, the Thuderbolt3 cable can be routed down the front of the windshield to emerge at the bottom of the mirror base closer to the center of the windshield.
6. Once the cabling is tucked in the headliner, move back to the "A" pillar and tuck the cable into the pillar cover routing it down towards the door seal, then secure the pillar cover to conceal the wiring.

Installing OpenPilot for Tesla

Comma.ai doesn't fully support Tesla cars. That's why we maintain our own fork, which you will have to install into your Comma devkit.

DON’T INSTALL ON ANYTHING OTHER THAN A TESLA!
(Someone bricked their Jeep trying.)

Installing the Tinkla version of OpenPilot

Follow these instructions for setting up a Comma devkit with Tinkla OpenPilot

If the devkit came with the official software preinstalled (did not start with "Getting Started"), or to take any device back to factory settings, go to Settings -> Software -> Uninstall and uninstall it.

1. Power your Comma devkit using a USB-C power adapter
2. Follow the prompts on the screen to setup the base software and configure WiFi
3. When asked "Choose Software to Install" select "Custom Software (Advanced)" and click Continue
4. When prompted for custom software URL enter "https://op.tinkla.us" and click Install Software
5. The device will download the software and the show "Installing Tinkla Unity"
6. After the software is installed (5-10 min usually, depending on the speed of your Internet connection) you will be prompted to accept the terms and perform the training, both needed to activate your software.

Edit your Config

After the EON has booted you can edit your config, which now has been automatically created.
At the top find user_handle = your_tinkla_username, set force fingerprint to True, and change your_tinkla_username to your Tinkla username (preferred, if available) or to your Discord handle.

nano /data/bb_openpilot.cfg

Make sure to set use_tesla_gps = True in case you're using a White Panda (Grey Panda has GPS built in). With GPS info of your drives you're helping Comma to improve their models (OpenPilot uploads your drives to their servers). Keep in mind that config changes only apply after rebooting the EON.

Flash your Panda

After installing or updating OpenPilot on your EON, you need to also update the software on your Panda. Here's how:

In your Tesla while it says “Car Off” connect your Panda to your Giraffe rev B OBD (or EPAS OBD). Connect your EON to the Panda via USB. Then SSH in and run:

cd /data/openpilot/panda/board
killall boardd
make clean
make && sleep 1 && (make recover || make recover) && echo Success! Rebooting in 2s... && sleep 2 && reboot

The kill command ensures that the EON stops regular communication to the Panda. That's also why a reboot is needed at the end. If any error occurs (which of course should not happen) the reboot will be skipped so you can troubleshoot. AssertionErrors should be fixed by rebooting EON and trying a second time. Optionally you may also power cycle your Panda by reseating it.

Final steps

Finally, check here to learn more about all the controls, functions and features related to longitudinal control: Using adaptive cruise control

First OpenPilot Drive

1. Make sure the Comma devkit is mounted properly and connected to the Panda by following #Installing the Comma devkit
2. Turn your car on and verify that the left side indicator shows "Car Online". If not, your panda is not flashed, see flashing instructions here Panda Flashing.
3. OpenPilot should switch to "drive mode" and show the camera view with white lane marking
4. Read up and understand the controls from Using adaptive cruise control

IF YOUR CAR IS RECOGNIZED:

1. Calibration will increment at above 15mph. It will take less than 30 seconds to fully calibrate. If you move the mount, it's recommended to reset camera calibration under "device settings".
2. When driving, Pull the Cruise Control Stalk to use OpenPilot

IF YOUR CAR IS NOT RECOGNIZED

1. Ask for help on the #tesla channel of the Comma.ai Discord

Experiencing issues?
In case you use a Pedal and it just won't work, chances are it doesn't have Tesla firmware on it yet. You can flash it with this guide. On any other issue, please use the search function or ask us on Discord.