Installing openpilot in a 2016 golf [no LKAS, with ACC]

Installing openpilot in a 2016 golf [no LKAS, with ACC]

Materials needed:

• 1 comma two.
• 1 J533 harness.
• VW coding/debug system Either, Carista, obdeleven or VCDS.
• 1 fully capable USB-C cable.
• 1 Car.

I use a Carista with an iPhone so that is what I will describe. ODBeleven seams a bit more user friendly, but it is slightly more expensive(99EUR for the pro version, which you need to do longcoding). Carista is 30 EUR + 7 EUR(for an app)

Steps

1. Make sure your car is capable or at least potentially capable of being driven with openpilot. You don’t want to buy everything and then realise that your car won’t work with openpilot.
   1. Get your Carista device, plug it in to the car, turn on the ignition.
   2. Install the Car Scanner ELM OBD2 app pay for the “pro version” we need the “pro version” to do “longcoding”. It is great app and it is definitely worth it.
   3. In the App, open Settings->ECU identifiers
   4. Mark all the ECU’s and scan them, this will give you a list of all the ECU’s in the car their serial numbers and how they are coded. This is useful to be able to google part numbers and to have as a backup of coding which is good to have as we will make changes to the coding. Export the scan to a note, keep it safe.
   5. Go in to the Diagnostic trouble codes part of the app. Scan all the ECU’s, make a note of any diagnostic trouble codes that might be relevant to openpilot, then clear all the DTC codes.
   6. Now go in to Coding & Service -> Long Coding part of the app.
   7. Chose Module 17
   8. set AccesKey to 25327 on byte 4 set bit 6 to true, on byte 11 set bit 1 to true.
   9. Scroll up and press apply. If it was applied properly that is good! If it did not apply that would indicate problems. Google your ECU part number from the earlier "ECU scan" try to figure out what coding bits do what on your ECU version.
   10. Go back and chose Module 44, depending on what version of the ECU you have in your car you should change either byte 3 bit 0 or byte 0 bit 4.
   11. Try byte 0 bit 4 press apply, if it failed to apply try byte 3 bit 0 and press apply. If neither option worked you might have a different ECU. Use the information from the earlier "ECU scan" to google for more information.
   12. That is how far we will get without more hardware. Hopefully your car shows promise :)
2. Get your hardware, a comma two, a harness, and a usb cable.
3. Get the comma two, buy it with the j533 harness.
4. Open up the panels under the steering wheel, look for the J533 connector it will be somewhere under the wheel, it might be hard to reach. Small hands are good to have. Reach in and connect your harness.
5. Start up the car, drive a bit, does the car work? Did you plug everything in correctly?
6. Time to connect your comma two but first, get wifi to you car or get your car to wifi.
7. plug in your comma two it should start by itself when you plug it in. Install openpilot using the custom url "https://openpilot.comma.ai"
8. Turn on the cars ignition, the comma two should detect that and switch from the start menu to a camera view.
9. If it does not work, your cables might be broken or your USB-C cable might only support power delivery or lower speed which is not acceptable for the comma two. Can you validate that your cables are working? Is the comma receiving CAN messages? Are there CAN messages missing? What do you see on https://my.comma.ai/useradmin/