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Discussion Starter #1 (Edited)
Found this today. Wasn't able to find any additional info online...
Edit: Above was a bit ambiguous. I was familiar with OpenPilot in general: I meant I wasn't able to find any info on how to hook this up on the Bolt.


Mike
 

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Thanks for posting. I've been watching and waiting to see this on a Bolt. This is one sure way to get adaptive cruise control and better lane keeping.
 

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I foresee a problem with the phone getting too hot and software starts lagging, could be dangerous. I get that now when using the phone for Android Auto...
 

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I foresee a problem with the phone getting too hot and software starts lagging, could be dangerous. I get that now when using the phone for Android Auto...
In the video, the phone appears to be in some kind of holder that has vents on the side. Possibly with some active cooling with a fan.
 

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First of all, Jason, you're doing awesome work!
Here's the related post.
https://shulerent.com/openpilot-2019-chevy-bolt-port/

I'm just going to copy-paste it in case his blog goes away. Here it is.


OPENPILOT 2019 CHEVY BOLT PORT
Image result for 2019 chevy bolt

This documents my efforts to add support for the 2019 Chevy Bolt to comma.ai OpenPilot open-source self-driving software.
Good progress has been made, but the support is not ready (and may never be ready) to merge into the main OpenPilot source.
If you want to try this you will need to use my fork of the OP source. Please be aware that this is a Work In Progress and may be broken from time to time.
Current status: Lateral Control Working*
* Power Steering control module still faults after some length of time (up to an hour) requiring a complete shutdown of the car to resolve.
Background
OpenPilot has previously been ported to the 2016-2018 Chevy Volt so long as it has Adaptive cruise control (ACC) and Lane Keep Assist (LKAS) . On the pre-2019 Volt it was possible to implement through the OBD-II port with a community developed “Giraffe” (Giraffe is the generic term for an adapter / extra wiring required to make it work).
The Volt has an ASCM that must be bypassed in order for OP to control the car; additionally some tomfoolery is required to power on the radar module.
The Bolt does not yet support ACC at any trim levels. LKAS and Forward Collision Avoidance (FCA) are available with the Driver Confidence II package – this package is required to get anywhere. If you don’t have it, this will never work.
Additionally, GM has added a Serial Data Gateway with “Cyber Security” filtering that blocks important messages from the OBD-II port (this applies to the 2019 Volt as well). We must interface the unfiltered CAN busses through other connectors in the car.
The Bolt does not contain an ASCM – all the self actuating functionality is handled directly by the Forward Facing Camera (FFC) module. Because of this, it is possible to intercept the required CAN busses from the FFC connector.

Requirements
Wiring
(Insert diagram here)
The Bolt’s FFC connector pinout:
Pin Wire color description
1 BK Ground
2
3 RD/GY 10A Fuse B+ F45DA 12v
4 WH Switched to ground, air bag coil, LED indicator on wheel, steering wheel control switch right??
5 BU Powertrain CAN ECM side, High
6 WH Powertrain CAN ECM side, Low
7 BU Powertrain CAN BCM side, High (steering side)
8 WH Powertrain CAN BCM side, Low (steering side)
9 WH/BU (IGN) 5986 (data link to inst cluster & radio)
10 GY/WH air bag coil, LKAS switch & collision switch (resistance based differential)
11 GN Low speed GMLAN
12
Obd-II pins (Panda Perspective)

OBD-II cable wire colors (assuming you used the one referenced. You should probably double check in case Amazon switches manufacturers):
1 – Brown
2 – brown/wh
3 – orange
4 – red/wh
5 – green
6 – green/wh
7 – black
8 – black/wh
9 – lt orange
10- white
11- yellow
12- peach
13- gray
14- teal
15- dk blue
16- purple

In our case, CAN1 is the Powertrain CAN Bus. CAN2 is the Chassis CAN bus. CAN3 is connected directly to the FFC’s Powertrain bus wires and requires a 100-120-ohm terminating resistor.



  • Cut the OBD extension cable in half, remove the outer insulation maybe 2 inches
  • Remove 2 inches of insulation from both sides
(I will provide more complete instructions later)
Here are the connections that need to be made.
OBD-II car port (male) <-> female OBD-II connector
From the OBD-II port we need to run the following signals through the CAT-5 cable:
  • 3 & 11 – CAN2H and CAN2L (use a twisted pair)
  • 7 & 15 – K-LIN and L-LIN (use a twisted pair) (may not be required)
  • 4 & 8 – Ground and Ignition (use a twisted pair) (technically ground isn’t required but I’d rather not have the spare wire of a twisted pair floating)
These need to be connected to the same pins on the female OBD-II connector.
Primarily we need the Chassis bus. Note that this is a filtered Chassis bus – most likely we will tap into the unfiltered Chassis Bus at the Chassis Control Module or the Power Steering Control Module in the future.
I’m not sure the LIN is used – I brought them up for safety.
Camera side Molex (female) <-> Vehicle side Molex (male)
The following pins on the camera Molex connector should be connected straight from the female to the male: 1, 3, 4, 9, 10, 11. Note that we will need to tap into pins 1, 3 & 11. (I was naughty and stripped a small section to wrap wires around – there must be a better way)
On both the male and female Molex connectors, pins 5 & 7 should be connected together, and pins 6 & 8 should be tied together. For the rest of the document when I refer to pin 5, I mean 5 & 7; likewise pin 6 refers to pins 6 & 8.
Have fun crimping those terminals! Do NOT fold the wire over and crimp with insulation – the terminals will not fit in the connector!
(TODO: picture)
Camera side Molex (female) <-> female OBD-II connector
Pin 5 Molex -> Pin 12 OBD
Pin 6 Molex -> Pin 13 OBD
Vehicle Side Molex (male) <-> female OBD-II connector
Pin 1 Molex -> Pin 4 OBD
Pin 3 Molex -> Pin 16 OBD
Pin 5 Molex -> Pin 6 OBD
Pin 6 Molex -> Pin 14 OBD
Pin 11 Molex -> Pin 1 OBD

When you are done you will have a Male OBD-II connector that plugs into the car’s OBD-II port with a cat 5 cable running up to the FFC area.

Plugging it in
  • Remove the plastic cover behind the rear view mirror to expose the Forward Facing Camera (TODO Image)
  • Get in the car, close the doors, make sure the car is turned OFF and wait for at least 3 minutes for the car to COMPLETELY shut down. Don’t touch anything!
  • There is a white retainer clip on the top of the connector going into the camera – slide / pull this out. (It does not come off, just slides out maybe 1/4 inch)
  • Press down on the top of the connect and squeeze, wiggle / pull the connector out of the camera.
  • Plug the Male socket on your Giraffe into the Vehicle-side connector
  • Plug the female connector on your Giraffe into the Camera
  • Plug the Male OBD-II connector on you giraffe inte the vehicle’s OBD-II port
  • Plug the Panda into the female OBD-II port and hang it over top of the rearview mirror (TODO: Image)
  • Plug the Panda into the EON
  • Pray we didn’t make any mistakes
Functionality
This current configuration will disable the forward facing camera entirely if OP is not active. When we either build a proper giraffe (or harness for the Panda Black) there should be an option to bypass OP.
When you start the vehicle the EON should wake up and say something along the lines of “keep your eyes on the road.” If it says “Unsupported car,” please get on the comma.ai discord group in the GM channel for assistance – your car may have a different fingerprint we can add.
Speed (Longitudinal) control is not yet possible!
It is recommended to disable the LKAS while using OP. The system automatically passes through the stock LKAS when OP is not engaged so you are not losing any functionality. (Note: this does not work at the moment)

Get up to your desired speed and activate the cruise control.
Press the cruise control Set or Resume button to activate OpenPilot. If everything works and you are lucky, the EON will have a green border and will start steering the car.
Congratulations! You Bolt is now steering itself…
For a while. There is an issue that the Power Steering Control Module will fault seemingly at random. When this happens neither OP nor the stock LKAS will function until you have shut down the car completely (ie turn it off and wait 5 minutes)
We are actively working on diagnosing the PSCM issue.
We are also working on implementing automatic braking – when complete the car will slow down when you get too close to the car in front of you, but the cruise control will disengage and you will have to manually resume.
Finally we are working on implementing a gas pedal interceptor to enable full adaptive cruise control using OP’s camera.

If you have any questions or need any assistance, please visit the comma.ai Discord group‘s GM channel.
Be Safe!
 

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Found this today. Wasn't able to find any additional info online...
Edit: Above was a bit ambiguous. I was familiar with OpenPilot in general: I meant I wasn't able to find any info on how to hook this up on the Bolt.


Mike
For those of us who are clueless, why don't you summarize what OpenPilot is. Is it a camera? Is it a navigation app? And what is your video showing … I don't know what I'm supposed to be seeing here.
 

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It's software, there is no system core to destroy, it's everywhere and cannot be stopped. Where's John Conner when you need him? ;)

 

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Just ordered some gear to give this a go. There is a newer platform out now on comma.ai called the Comma Two, may not yet be supported for the Bolt port Jason has created. Will post some updates as I start to receive equipment and try to set things up.

I get the safety concerns but after researching this quite a bit - I'm confident it is as good or better than Autopilot from Tesla. In both cases, you have to pay attention and this one (like SuperCruise) monitors the driver to ensure they are paying attention. You can always take control of the vehicle...
 

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Discussion Starter #10
I'm going to wait until this is a full kit that is just plug and play. Maybe it's already there. But if/when it does get to that point, does anyone know how much of a hassle it will be to turn on and activate? What I'd like is to get in the car, start it up, and maybe it takes a minute or two for the comma device to "boot" or something... but hopefully it'll do all that on it's own? What I don't want to deal with is having to manually turn on the device, wait for the OS to boot, have to start some program on the device, etc. At that point, it'd just be easier to just drive myself since I typically don't drive that far. But if it's basically self-booting where you don't have to go through some "routine" every time you want to use it, I'M IN!

Mike
 

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I'll share the experience as I get the pieces in and get things set up. I believe the experience is intended to be you turn on cruise control and it is enabled. It sits between the LKA camera with the vehicles plug into a "giraffe" board and a similar plug from the board going into the LKA camera.

Should make for a fun project amidst hiding out in the house...
 

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I saw a couple of folks in a Korean forum putting this in their Bolts and from what I can assess, it seems to provide a (much) better LKA function but it doesn't (yet) give you the "smart cruise control" where the car automatically adjusts the speed to keep a certain distance from the forward traffic. If the latter becomes available I might give the system a try.
 

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Jason Shuler has made progress on the speed control - it uses an additional component from comma.ai called a "Comma Pedal" - latest report is it works well at highway speeds. Can come to a full stop but that experience is not fantastic at present. I'm ordering a pedal from him as well as the giraffe board that make this possible on the Bolt. No ETA on these yet but hoping to get started with the EON Devkit (really a OnePlus 3T smart phone with built-in heat sink and fan and custom OS) setup late next week.
 

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For anyone wishing to learn more, check out the Comma.ai Website
Discord is their community forum tool and there is a lot of good info in there.

**Note, I'm told at present you cannot use the Comma2 with GM cars, you need an "EON Devkit" - these are somewhat sparse but can be found under the #For-Sale thread in Discord.

The EON Devkit was cheaper and seems capable but I will ask what it will take to support Comma2 and if anyone is working on that.
 

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I received my EON device and Gray Panda that I ordered from a Discord member. Pretty simple UI with not much to it. Implementation once I receive the Giraffe will require removing the camera cover on the windshield, unplugging the LKA camera, plugging the Giraffe into the LKA camera and the original LKA connector into the giraffe. The Panda plugs in to the Giraffe board and current Board Jason has crafted will fit under the camera cover. There is also an RJ45 connector that is for the Comma Pedal - you don't need this for auto-steer but it will work well with ACC like functionality at highway speeds and can bring the vehicle to a stop and resume (tuning still being done there). For me, it is worth it to have the slow down/speed up functionality at highway speeds.

In my previous post, I mentioned the EON devices are somewhat sparse and no longer available from Comma.ai. There have actually been a couple that have come up on #For-Sale in Discord at a better price than I paid - so if you are interested in this, just be a little patient and keep checking in on this #For-Sale forum.

It may be possible to use the Comma2 now - probably best to create an account on discord and DM Jason Shuler or a couple others who have been working on an adapter for the Comma2 which is the current hardware from Comma.ai. It adds some integration of components into the dash device, some additional cooling and has infrared cameras for better attention monitoring of the driver at night.

My kit didn't come with any 3M tape, ordered some from Amazon - will be here Mon so that is when the kit goes up on the windshield and even without the Giraffe, I can put it in Dashcam mode and start calibration of the device.

Really looking forward to getting the Giraffe board from JShuler so I can start to test auto-steer.
 

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Pics please.
 

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I purchased a Comma 2 and am likewise waiting for the giraffe and the pedal board. I had a pro-pilot steering and speed control on a 2018 Nissan LEAF SV and it is a major difference in not having to continuously keep the car in its lane. Driving becomes more of a monitoring function.
 

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**Note, I'm told at present you cannot use the Comma2 with GM cars, you need an "EON Devkit" - these are somewhat sparse but can be found under the #For-Sale thread in Discord.

The EON Devkit was cheaper and seems capable but I will ask what it will take to support Comma2 and if anyone is working on that.
Assuming this comment is key as when you go to the linked web site and put in the vehicle info this is what comes up

29307
 

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The Bolt is not supported by the Comma.ai official branch with EON or Comma2 at present. Jshuler has a branch that does support the EON/Panda/Giraffe config integrated through the camera connector. His intent has been to get his branch accepted for check in to the Comma.ai branch but that is still a work in progress.

Latest I have seen on the Comma2 & GM vehicles is one dev has something working for his Cadillac ATS involving 2 pandas & some customizations - I don't believe the Giraffe & Pedal from Jshuler is enough.

Pics coming...after work...
 

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So for someone who is interested in accessing their vehicle buses for purposes OTHER than OpenPilot:

On your vehicle, where is the other end of the cable that goes to the camera? Is it going to another connector, or does it get merged into a much larger harness?

I'm trying to find a location to get to the single wire GMLAN that is not firewalled off for the purposes of impersonating an OnStar module. Unfortunately, my particular vehicle does not have DCII, so no camera as a tap-in point.

Bonus points if there's a good place to get access to the BMS CANbus where all the shiny battery status messages are flying.
 
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