wip

selfdrive/car/README.md

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+## Car port structure
+
+### interface.py
+Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
+
+### fingerprints.py
+Fingerprints for matching to a specific car
+
+### carcontroller.py
+Builds CAN messages to send to car
+
+##### carstate.py
+Reads CAN from car and builds openpilot CarState message
+
+##### values.py
+Limits for actuation, general constants for cars, and supported car documentation
+
+##### radar_interface.py
+Interface for parsing radar points from the car