Difference between revisions of "EON"

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(Installing OpenPilot for Tesla)
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The EON 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.
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The EON 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.[[File:EON-devkit.jpg|500px|thumb|right|Comma.ai EON DevKit]]
  
 
__TOC__
 
__TOC__
  
 
== EON DevKit (or FrEON) ==
 
== EON DevKit (or FrEON) ==
 +
 +
comma two devkit is unsupported and will not work at this time.
 +
 +
 
The EON is based on the [https://www.qualcomm.com/products/snapdragon-821-mobile-platform?cmpid=snfyus19642&gclid=EAIaIQobChMI-oG8if364QIVFY_ICh0DFArXEAAYASAAEgKFL_D_BwE&gclsrc=aw.ds Qualcom Snapdragon 821 mobile platform]. Phones like OnePlus 3T or LeEco LePro3 have been used to create the FrEON (the free EON). You can find some instructions [https://medium.com/@kirk_40929/getting-comma-openpilot-running-on-a-used-phone-c72d609cb4d3 here].  
 
The EON is based on the [https://www.qualcomm.com/products/snapdragon-821-mobile-platform?cmpid=snfyus19642&gclid=EAIaIQobChMI-oG8if364QIVFY_ICh0DFArXEAAYASAAEgKFL_D_BwE&gclsrc=aw.ds Qualcom Snapdragon 821 mobile platform]. Phones like OnePlus 3T or LeEco LePro3 have been used to create the FrEON (the free EON). You can find some instructions [https://medium.com/@kirk_40929/getting-comma-openpilot-running-on-a-used-phone-c72d609cb4d3 here].  
  
If you chose to buy your [https://comma.ai/shop/products/eon-gold-dashcam-devkit EON] already made, you can do so from Comma.ai store for $599 USD.
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If you choose to buy your [https://comma.ai/shop/products/eon-gold-dashcam-devkit EON] already made, you can do so from Comma.ai store for $599 USD.
 +
 
 +
comma two devkit is not usable, currently. Only the EON is currently supported.  
  
Also, as we run more and more processing on the EON, it gets hotter and hotter. Some of us have opted to replace the original fan (which is also noisy when you're inside of a Tesla) with super quiet [[Noctua fan|Noctua fans]]. $15 from Amazon and soldering two wires and you're good to go! We might have to actually double that to two [[Noctua fan|Noctua fans]] in the neat future.  
+
Also, as we run more and more processing on the EON, it gets hotter and hotter. Some of us have opted to replace the original fan (which is also noisy when you're inside of a Tesla) with super quiet [[Noctua fan|Noctua fans]]. $15 from Amazon and soldering two wires and you're good to go! We might have to actually double that to two [[Noctua fan|Noctua fans]] in the near future.  
  
 
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.
 
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.
Line 14: Line 20:
 
Code for power management of battery (only charging when below 60% and stopping the charge when it reaches 80%) has helped keep the battery temperature lower and hence the CPU cooler. And this is a free upgrade, as the code is already in my repo.
 
Code for power management of battery (only charging when below 60% and stopping the charge when it reaches 80%) has helped keep the battery temperature lower and hence the CPU cooler. And this is a free upgrade, as the code is already in my repo.
  
Here is my [[EON bash profile]] (.bash_profile).
+
Here is a helpful [[EON bash profile]] (.bash_profile).
 +
 
 +
== Installing the EON ==
 +
EON installation is pretty simple. Your main objective is to ensure the EON is level with the ground, and pointed as straight as you can get it. If you're uncomfortable "eyeballing it," you may want to use:
 +
*A measuring tape
 +
*A roll of masking tape
 +
*A friend to help
 +
===Instructions===
 +
# 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).
 +
# 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.
 +
# Repeat the process on the other side of the windshield, ensuring you mark the same spots.
 +
# 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.
 +
# 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.
 +
# Take a small piece of tape and mark the middle of the GoPro mount. use a slightly longer piece than the go-pro (maybe 1/4-1/2" more on each side) and ensure it is straight and down the middle of the GoPro. 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 GoPro. Reverse if the other way.
 +
# Using your EON 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 EON to be.
 +
# Remove the RED protective tape from the back of the 3M adhesive and be ready to place the GoPro on the windshield. Align the masking tape we placed on the GoPro 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.
 +
# Remove all masking tape. You are done. You now have a perfectly centered, perfectly vertical EON.
 +
=== Hide the USB/antenna cable above the Headliner ===
 +
# Pull your USB and GPS antenna cables from the footwell gap (where the OBDII port with a giraffe or giraffe-less cable, and Panda are) up to where the "A" pillar is...
 +
# Follow the instructions to remove the air bag cover from the "A" pillar
 +
# Pull the USB/antenna cables up the height of the "A" pillar across the the mirror holding them close to the headliner.  Adjust the length and to reach where you will place your panda and your EON.  The GPS receiver can be placed under the mirror ''Frit'', it won't effect performance (the pattern is only to prevent glare on the mirror).   
 +
# Drape the receiver and USB plug ends over the rear view mirror.
 +
# 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 two wires into the headliner as you go.  When you reach the mirror base, this can be lifted slightly route the GPS into the headliner crossing in between headliner and mirror base, while the EON USB cable can be routed down the front of the windshield to emerge at the bottom of the mirror base closer to the centre of the windshield.
 +
# 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 ==
 
== Installing OpenPilot for Tesla ==
 
Comma.ai doesn't support Tesla cars. That's why we maintain our own fork, which you will have to manually check out after setting up your EON.
 
Comma.ai doesn't support Tesla cars. That's why we maintain our own fork, which you will have to manually check out after setting up your EON.
  
'''<span style="color: red;font-size: 18pt;">DON’T INSTALL UNLESS YOU HAVE A TESLA!</span>''' <br />
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'''<span style="color: red;font-size: 18pt;">DON’T INSTALL ON ANYTHING OTHER THAN A TESLA!</span>''' <br />
 
(Someone bricked their Jeep trying.)
 
(Someone bricked their Jeep trying.)
  
 +
=== Start with Stock OpenPilot ===
 +
Follow the instructions for setting up an EON with OpenPilot using these instructions: [https://medium.com/@jfrux/comma-eon-initial-setup-with-openpilot-2b5ea58354a Comma EON Initial Setup with OpenPilot]
  
<!--// Start Spoiler Area for How to SSH //-->
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Then we will [[#Git the Tesla OP Fork]]
<div class="mw-collapsible mw-collapsed" style="border:1px solid #f5b628;background-color:#fff6d3;padding: 0.5em;">
 
How to SSH to the EON
 
<div class="mw-collapsible-content">
 
In order to login to your EON via SSH, use the following key:
 
<pre>
 
-----BEGIN PRIVATE KEY-----
 
MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQC+iXXq30Tq+J5N
 
Kat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXB
 
t6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCt
 
Z+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZ
 
acEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt6
 
1OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJ
 
rO4uymCJAgMBAAECggEBAISFevxHGdoL3Z5xkw6oO5SQKO2GxEeVhRzNgmu/HA+q
 
x8OryqD6O1CWY4037kft6iWxlwiLOdwna2P25ueVM3LxqdQH2KS4DmlCx+kq6FwC
 
gv063fQPMhC9LpWimvaQSPEC7VUPjQlo4tPY6sTTYBUOh0A1ihRm/x7juKuQCWix
 
Cq8C/DVnB1X4mGj+W3nJc5TwVJtgJbbiBrq6PWrhvB/3qmkxHRL7dU2SBb2iNRF1
 
LLY30dJx/cD73UDKNHrlrsjk3UJc29Mp4/MladKvUkRqNwlYxSuAtJV0nZ3+iFkL
 
s3adSTHdJpClQer45R51rFDlVsDz2ZBpb/hRNRoGDuECgYEA6A1EixLq7QYOh3cb
 
Xhyh3W4kpVvA/FPfKH1OMy3ONOD/Y9Oa+M/wthW1wSoRL2n+uuIW5OAhTIvIEivj
 
6bAZsTT3twrvOrvYu9rx9aln4p8BhyvdjeW4kS7T8FP5ol6LoOt2sTP3T1LOuJPO
 
uQvOjlKPKIMh3c3RFNWTnGzMPa0CgYEA0jNiPLxP3A2nrX0keKDI+VHuvOY88gdh
 
0W5BuLMLovOIDk9aQFIbBbMuW1OTjHKv9NK+Lrw+YbCFqOGf1dU/UN5gSyE8lX/Q
 
FsUGUqUZx574nJZnOIcy3ONOnQLcvHAQToLFAGUd7PWgP3CtHkt9hEv2koUwL4vo
 
ikTP1u9Gkc0CgYEA2apoWxPZrY963XLKBxNQecYxNbLFaWq67t3rFnKm9E8BAICi
 
4zUaE5J1tMVi7Vi9iks9Ml9SnNyZRQJKfQ+kaebHXbkyAaPmfv+26rqHKboA0uxA
 
nDOZVwXX45zBkp6g1sdHxJx8JLoGEnkC9eyvSi0C//tRLx86OhLErXwYcNkCf1it
 
VMRKrWYoXJTUNo6tRhvodM88UnnIo3u3CALjhgU4uC1RTMHV4ZCGBwiAOb8GozSl
 
s5YD1E1iKwEULloHnK6BIh6P5v8q7J6uf/xdqoKMjlWBHgq6/roxKvkSPA1DOZ3l
 
jTadcgKFnRUmc+JT9p/ZbCxkA/ALFg8++G+0ghECgYA8vG3M/utweLvq4RI7l7U7
 
b+i2BajfK2OmzNi/xugfeLjY6k2tfQGRuv6ppTjehtji2uvgDWkgjJUgPfZpir3I
 
RsVMUiFgloWGHETOy0Qvc5AwtqTJFLTD1Wza2uBilSVIEsg6Y83Gickh+ejOmEsY
 
6co17RFaAZHwGfCFFjO76Q==
 
-----END PRIVATE KEY-----
 
</pre>
 
You can download the id_rsa key from the openpilot-tools repo,[https://github.com/commaai/openpilot-tools/tree/master/ssh/key here]  
 
With that key you can SSH in as root on port 8022.  If you're using PuTTY, you'll need to convert that id_rsa (private key) into a .ppk (PuTTY Private Key)... no passwords needed.
 
 
 
Just save the above key as a text file, name it "eonkey.pem" or anything you like;
 
 
 
1) Under Unix/Linux environment, or Mac terminal, please run: $ chmod 600 eonkey.pem  (otherwise the system will think the text file is not safe).
 
 
 
2) To connect to your EON using this key, save the text above to a blank text file and name the file eonkey.pem.
 
(Just make save it into the same working directory, to check using commands "pwd" and "ls".
 
 
 
Then get the IP address of your EON in settings under settings > wifi > advanced (please make sure your EON and your computer connect to the same WiFi).
 
 
 
3) To check your connection: $ ping the EON IP address, like "ping 192.168.1.100";  please try a couple times until you see the data exchanging.
 
like:
 
"PING 192.168.2.1 (192.168.2.1): 56 data bytes
 
64 bytes from 192.168.2.1: icmp_seq=0 ttl=64 time=1.710 ms
 
64 bytes from 192.168.2.1: icmp_seq=1 ttl=64 time=13.899 ms"
 
 
 
4) Under a linux, MAC machine or PuTTY environment, use the command:
 
 
 
ssh root@(IP address of EON) -p 8022 -i eonkey.pem
 
 
 
like "$ ssh root@192.168.1.100 -p 8022 -i eonkey.pem"
 
 
 
 
 
This is the same key in PuTTY ppk format:
 
<pre>
 
PuTTY-User-Key-File-2: ssh-rsa
 
Encryption: none
 
Comment: imported-openssh-key
 
Public-Lines: 6
 
AAAAB3NzaC1yc2EAAAADAQABAAABAQC+iXXq30Tq+J5NKat3KWHCzcmwZ55nGh6W
 
ggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXBt6gEvZ8nd04E7eLA9LTZ
 
yFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCtZ+004ikLxmyFeBO8NOcE
 
rW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZacEQ+jtnmFd21A4aEADk
 
k00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt61OTu6cAwXbOWr3m+IUSR
 
UO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJrO4uymCJ
 
Private-Lines: 14
 
AAABAQCEhXr8RxnaC92ecZMOqDuUkCjthsRHlYUczYJrvxwPqsfDq8qg+jtQlmON
 
N+5H7eolsZcIizncJ2tj9ubnlTNy8anUB9ikuA5pQsfpKuhcAoL9Ot30DzIQvS6V
 
opr2kEjxAu1VD40JaOLT2OrE02AVDodANYoUZv8e47irkAlosQqvAvw1ZwdV+Jho
 
/lt5yXOU8FSbYCW24ga6uj1q4bwf96ppMR0S+3VNkgW9ojURdSy2N9HScf3A+91A
 
yjR65a7I5N1CXNvTKePzJWnSr1JEajcJWMUrgLSVdJ2d/ohZC7N2nUkx3SaQpUHq
 
+OUedaxQ5VbA89mQaW/4UTUaBg7hAAAAgQDoDUSLEurtBg6HdxteHKHdbiSlW8D8
 
U98ofU4zLc404P9j05r4z/C2FbXBKhEvaf664hbk4CFMi8gSK+PpsBmxNPe3Cu86
 
u9i72vH1qWfinwGHK92N5biRLtPwU/miXoug63axM/dPUs64k865C86OUo8ogyHd
 
zdEU1ZOcbMw9rQAAAIEA0jNiPLxP3A2nrX0keKDI+VHuvOY88gdh0W5BuLMLovOI
 
Dk9aQFIbBbMuW1OTjHKv9NK+Lrw+YbCFqOGf1dU/UN5gSyE8lX/QFsUGUqUZx574
 
nJZnOIcy3ONOnQLcvHAQToLFAGUd7PWgP3CtHkt9hEv2koUwL4voikTP1u9Gkc0A
 
AACAPLxtzP7rcHi76uESO5e1O2/otgWo3ytjpszYv8boH3i42OpNrX0Bkbr+qaU4
 
3obY4trr4A1pIIyVID32aYq9yEbFTFIhYJaFhhxEzstEL3OQMLakyRS0w9Vs2trg
 
YpUlSBLIOmPNxonJIfnozphLGOnKNe0RWgGR8BnwhRYzu+k=
 
Private-MAC: 2af7f5a599fa35e22392b7770a2eb7a0be8718b7
 
</pre>
 
 
 
To use it in PuTTY, just be sure to reference that .ppk under... Connection > SSH > Auth > Private key for authentication
 
 
 
To set your timezone...
 
# setprop persist.sys.timezone "US/Pacific"
 
...or whatever your timezone is.
 
 
 
Instead of working with above key files, one may also add the following single line into ~/.ssh/known_hosts :
 
<pre>
 
[192.168.43.1]:8022 ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBObmX06kATNtKj+x/Zk2gXkYzkE5St8j7kWhw07x6iiQZK8mK5VmANzHGNuTeInDZHh5sRJ/BcUqpYz1hI0WnMQ=
 
</pre>
 
 
 
With this entry one can then log into EON without password via:
 
 
 
ssh -p 8022 192.168.43.1
 
 
 
Note: The Wifi tethering IP address of EON is 192.168.43.1. If EON is on home WIfi, replace 192.168.43.1. with appropriate address.
 
</div>
 
</div>
 
<!--// End Spoiler Area for How to SSH //-->
 
  
 
=== Git the Tesla OP Fork ===
 
=== Git the Tesla OP Fork ===
SSH into your EON and execute the following commands (you need internet connectivity on your EON):
+
[https://community.comma.ai/wiki/index.php/Configuring_OpenPilot#How_to_SSH_to_the_EON SSH into your EON] and execute the following commands (you need internet connectivity on your EON):
 
<source lang="bash">
 
<source lang="bash">
 +
cd /data
 
rm -rf /data/openpilot
 
rm -rf /data/openpilot
 
git clone --depth 1 https://github.com/BogGyver/openpilot.git -b tesla_devel /data/openpilot
 
git clone --depth 1 https://github.com/BogGyver/openpilot.git -b tesla_devel /data/openpilot
Line 143: Line 67:
  
 
=== Edit your Config ===
 
=== Edit your Config ===
After the EON has booted you can edit your [[OpenPilot Configuration File|config]], which now has been automatically created. At the top find <source inline>user_handle = your_tinkla_username</source> and change your_tinkla_username to your Discord handle. (Tinkla username can be used if you have one, and we recommend it.)
+
After the EON has booted you can edit your [[OpenPilot Configuration File|config]], which now has been automatically created.<br/>
 +
At the top find <source inline>user_handle = your_tinkla_username</source>, set force fingerprint to True, and change your_tinkla_username to your Tinkla username (preferred, if available) or to your Discord handle.
  
 
<source lang="bash">nano /data/bb_openpilot.cfg</source>
 
<source lang="bash">nano /data/bb_openpilot.cfg</source>
  
 
Make sure to set <source inline>use_tesla_gps = True</source> 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).
 
Make sure to set <source inline>use_tesla_gps = True</source> 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.
After that you can proceed with flashing your [[Panda]] and possibly also your [[Pedal Interceptor|Pedal]].
 
  
 
=== Flash your Panda ===
 
=== Flash your Panda ===
In your Tesla while it says “Car Off” connect your Panda to your Giraffe rev B OBD (or EPAS OBD). Connect your EON and panda via USB then SSH and run:
+
{{Flashing the Panda}}
<source lang="bash">cd /data/openpilot/panda/board
 
Make
 
Make recover
 
Make recover
 
Reboot</source>
 
 
 
After your EON reboots, if you have a Pedal skip to [[EON#Flash your Pedal|Flash your Pedal]]. If you don't have a Pedal, review [[#Controlling Adaptive Cruise Control|how to control OpenPilot ACC]] and take your improved Tesla for a spin.
 
  
Finally, edit this wiki page and add your Discord handle and Tesla type:
+
=== Final steps ===
[https://community.comma.ai/wiki/index.php/Tesla#Community_ToDo_List Comma.ai wiki:Tesla]
+
Finally, check here to learn more about all the controls, functions and features related to longitudinal control: [[Longitudinal_Control:_ACC#Using_Adaptive_Cruise_Control|Using adaptive cruise control]]
  
=== Flash your Pedal ===
+
==== First OpenPilot Drive ====
If you have a Pedal, now is the time to [[Pedal_Interceptor#Flashing_the_firmware_for_Tesla_Pedal|flash the firmware for Tesla Pedal]].
+
# Make sure the EON is mounted properly and connected to the Panda by following [[#Installing the EON]]
 +
# Make sure the EON has Internet access (either your wifi at home or a SIM card). Connect to a mobile hotspot if you don't have a SIM card
 +
## Reboot your EON before turning your car on for good measure
 +
# Turn your car on and verify that the Panda LEDs are pulsing red/blue/purple. If they are green, your panda is not flashed, see flashing instructions here [[Panda#Flashing_the_Panda|Panda Flashing]].
 +
# OpenPilot should switch to "drive mode" and show the camera view with white lane marking
 +
# Make sure that your EON is connected to the Internet or Calibration will not start
 +
# Read up and understand the controls from [[Longitudinal_Control:_ACC#Using_Adaptive_Cruise_Control|Using adaptive cruise control]]
  
Finally, edit this wiki page and add your Discord handle and Tesla type:
 
[https://community.comma.ai/wiki/index.php/Tesla#Community_ToDo_List Comma.ai wiki:Tesla]
 
  
=== Controlling Adaptive Cruise Control ===
+
IF YOUR CAR IS RECOGNIZED:
ACC allows the car to match speed with cars in front of you. The EON judges distances using the camera and dynamically adjusts cruise control speed. There are plenty of downsides to this strategy. The distance estimates are inaccurate. It only operates above 18 mph. The speed changes are not very smooth. And it can't handle sudden slowdowns so YOU MUST BE READY TO MANUALLY BRAKE AT ANY MOMENT. But it works without any new radar/pedal hardware.
+
# 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".
 +
# When driving, Double Pull the Cruise Control Stalk to use OpenPilot
  
To repeat, <span style="color:red;">'''YOU MUST BE READY TO MANUALLY BRAKE AT ANY MOMENT!'''</span>
+
IF YOUR CAR IS NOT RECOGNIZED
 +
# Ask for help on the #tesla channel of the [https://discordapp.com/invite/Wyna3qy Comma.ai Discord]
  
Follow these steps to use ACC:
 
# Press the cruise stalk IN so that the orange "cruise control ready" LED on the stalk is lit.
 
# Enable the ACC option on screen if necessary.
 
# Accelerate above 18 MPH.
 
# Enable OpenPilot using a DOUBLE stalk pull (pull the cruise control stalk BACKWARDS TWICE in quick succession.) You will see the blue 'Cruise' icon appear on your dash. ACC is now active.
 
# The initial max speed may be conservative. Press UP on the stalk to increase it.
 
# Cruise is disabled if you brake or the car slows below 18 MPH.
 
# If ACC "AUTO" mode is enabled, manually accelerate above 18 MPH to resume.
 
  
Controls while ACC is enabled:
+
Experiencing issues?<br/>
{| class="wikitable"
+
In case you use a [[Pedal Interceptor|Pedal]] and it just won't work, chances are it doesn't have Tesla firmware on it yet. You can flash it with [[Pedal Interceptor#Flashing the firmware for Tesla Pedal|this guide]].
|-
+
Various other problems can be related to wiring, so double check each installation page, especially [[EPAS Harness]].<br/>
! Control
+
On any other issue, please use the search function or ask us on [https://discordapp.com/invite/Wyna3qy Discord].
! Action
 
|-
 
| Cruise stalk IN
 
| Master toggle for cruise control. Must be engaged for cruise or ACC to work.
 
|-
 
| Cruise stalk DOUBLE PULL
 
| Enable OP ACC and steering, and increase the max allowed ACC speed if necessary.
 
|-
 
| On screen ACC button
 
| Toggle between "FOLLOW" and "AUTO" mode. FOLLOW mode attempts to match speed with cars in front of you and disengages if you steer or brake. AUTO mode does the same, but automatically re-engages when you accelerate again.
 
|-
 
| Cruise stalk UP
 
| Increase cruise speed, increasing max allowed ACC speed if necessary.
 
|-
 
| Cruise stalk DOWN
 
| Decrease cruise speed and max allowed ACC speed.
 
|-
 
| Cruise stalk PUSH
 
| Disable OpenPilot (both steering and ACC). Max allowed ACC speed is reset to 0.
 
|-
 
| Brake pedal
 
| Pause both ACC and traditional cruise.
 
|-
 
| Accelerator
 
| (When in AUTO mode) Accel over 18 MPH to unpause ACC.
 
|}
 

Revision as of 13:10, 21 August 2020

The EON 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.ai EON DevKit

EON DevKit (or FrEON)

comma two devkit is unsupported and will not work at this time.


The EON is based on the Qualcom Snapdragon 821 mobile platform. Phones like OnePlus 3T or LeEco LePro3 have been used to create the FrEON (the free EON). You can find some instructions here.

If you choose to buy your EON already made, you can do so from Comma.ai store for $599 USD.

comma two devkit is not usable, currently. Only the EON is currently supported.

Also, as we run more and more processing on the EON, it gets hotter and hotter. Some of us have opted to replace the original fan (which is also noisy when you're inside of a Tesla) with super quiet Noctua fans. $15 from Amazon and soldering two wires and you're good to go! We might have to actually double that to two Noctua fans in the near future.

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.

Code for power management of battery (only charging when below 60% and stopping the charge when it reaches 80%) has helped keep the battery temperature lower and hence the CPU cooler. And this is a free upgrade, as the code is already in my repo.

Here is a helpful EON bash profile (.bash_profile).

Installing the EON

EON installation is pretty simple. Your main objective is to ensure the EON is level with the ground, and pointed as straight as you can get it. 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 GoPro mount. use a slightly longer piece than the go-pro (maybe 1/4-1/2" more on each side) and ensure it is straight and down the middle of the GoPro. 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 GoPro. Reverse if the other way.
  7. Using your EON 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 EON to be.
  8. Remove the RED protective tape from the back of the 3M adhesive and be ready to place the GoPro on the windshield. Align the masking tape we placed on the GoPro 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 EON.

Hide the USB/antenna cable above the Headliner

  1. Pull your USB and GPS antenna cables from the footwell gap (where the OBDII port with a giraffe or giraffe-less cable, and Panda are) up to where the "A" pillar is...
  2. Follow the instructions to remove the air bag cover from the "A" pillar
  3. Pull the USB/antenna cables up the height of the "A" pillar across the the mirror holding them close to the headliner. Adjust the length and to reach where you will place your panda and your EON. The GPS receiver can be placed under the mirror Frit, it won't effect performance (the pattern is only to prevent glare on the mirror).
  4. Drape the receiver and USB plug ends 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 two wires into the headliner as you go. When you reach the mirror base, this can be lifted slightly route the GPS into the headliner crossing in between headliner and mirror base, while the EON USB cable can be routed down the front of the windshield to emerge at the bottom of the mirror base closer to the centre 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 support Tesla cars. That's why we maintain our own fork, which you will have to manually check out after setting up your EON.

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

Start with Stock OpenPilot

Follow the instructions for setting up an EON with OpenPilot using these instructions: Comma EON Initial Setup with OpenPilot

Then we will #Git the Tesla OP Fork

Git the Tesla OP Fork

SSH into your EON and execute the following commands (you need internet connectivity on your EON):

cd /data
rm -rf /data/openpilot
git clone --depth 1 https://github.com/BogGyver/openpilot.git -b tesla_devel /data/openpilot
reboot

The first reboot will take around 20 minutes to set everything up.

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 EON is mounted properly and connected to the Panda by following #Installing the EON
  2. Make sure the EON has Internet access (either your wifi at home or a SIM card). Connect to a mobile hotspot if you don't have a SIM card
    1. Reboot your EON before turning your car on for good measure
  3. Turn your car on and verify that the Panda LEDs are pulsing red/blue/purple. If they are green, your panda is not flashed, see flashing instructions here Panda Flashing.
  4. OpenPilot should switch to "drive mode" and show the camera view with white lane marking
  5. Make sure that your EON is connected to the Internet or Calibration will not start
  6. 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, Double 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. Various other problems can be related to wiring, so double check each installation page, especially EPAS Harness.
On any other issue, please use the search function or ask us on Discord.