Revert 2021 Accord (#22063)

* bump panda

* Revert "Car Port: 2021 Accord 2.0 Touring & Hybrid Touring (#22007)"

This reverts commit b305a94049606c7a92aebf0e50dc21eda58aa017.

* revert release notes

* bump panda
old-commit-hash: 4be956f886

README.md

@@ -67,8 +67,8 @@ Supported Cars
 | Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord 2018-21                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord Hybrid 2018-21         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |

RELEASES.md

@@ -11,8 +11,6 @@ Version 0.8.8 (2021-08-27)
  * NEOS 18 for comma two: update packages
  * AGNOS 1.3 for comma three: fix display init at high temperatures
  * Improved auto-exposure on comma three
- * Honda Accord 2021 support thanks to csouers!
- * Honda Accord Hybrid 2021 support thanks to csouers!
  * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
  * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
  * Kia Niro Hybrid 2021 support thanks to tetious!

panda

@@ -1 +1 @@
-Subproject commit 46593af6190a09aea8a1a734e6b3cdcd4227cb98
+Subproject commit 8c687ecfb4464cc2eb67a704b00ecdcb97f7c0df

selfdrive/car/honda/carstate.py

@@ -119,7 +119,7 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
     else:
       checks += [("CRUISE_PARAMS", 50)]
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@@ -230,7 +230,7 @@ class CarState(CarStateBase):
 
     # ******************* parse out can *******************
     # TODO: find wheels moving bit in dbc
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
       ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -279,7 +279,7 @@ class CarState(CarStateBase):
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
     self.brake_hold = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"]
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH,
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                   CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
       self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
       main_on = cp.vl["SCM_FEEDBACK"]["MAIN_ON"]

selfdrive/car/honda/hondacan.py

@@ -1,5 +1,5 @@
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_EXT, CAR
+from selfdrive.car.honda.values import HONDA_BOSCH, CAR
 from selfdrive.config import Conversions as CV
 from selfdrive.swaglog import cloudlog
 
@@ -169,18 +169,12 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
+    'SET_ME_X48': 0x48,
     'STEERING_REQUIRED': hud.steer_required,
     'SOLID_LANES': hud.lanes,
     'BEEP': 0,
   }
-  if car_fingerprint not in HONDA_BOSCH_EXT:
+  commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
-    lkas_hud_values['SET_ME_X48'] = 0x48
-
-  if car_fingerprint in HONDA_BOSCH_EXT and not openpilot_longitudinal_control:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx))
-  else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
 
   if radar_disabled and car_fingerprint in HONDA_BOSCH:
     radar_hud_values = {

selfdrive/car/honda/interface.py

@@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 1.
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
-    elif candidate in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021):
+    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
       stop_and_go = True
       ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83

selfdrive/car/honda/values.py

@@ -51,8 +51,6 @@ VISUAL_HUD = {
 class CAR:
   ACCORD = "HONDA ACCORD 2018"
   ACCORDH = "HONDA ACCORD HYBRID 2018"
-  ACCORD_2021 = "HONDA ACCORD 2021"
-  ACCORDH_2021 = "HONDA ACCORD HYBRID 2021"
   CIVIC = "HONDA CIVIC 2016"
   CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
   CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
@@ -289,10 +287,12 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TWA-A070\x00\x00',
+      b'36161-TWA-A330\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TWA-A080\x00\x00',
       b'36802-TWA-A070\x00\x00',
+      b'36802-TWA-A330\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TVA-A160\x00\x00',
@@ -300,78 +300,6 @@ FW_VERSIONS = {
       b'39990-TVA-A340\x00\x00',
     ],
   },
-  CAR.ACCORD_2021: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-6B2-C520\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28102-6B8-A700\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TVA-A320\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TVA-A020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TVA-E520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TVA-L420\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TVC-A230\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TVC-A910\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TVC-A330\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TVC-A330\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A340\x00\x00',
-    ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A120\x00\x00',
-    ],
-  },
-  CAR.ACCORDH_2021: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TWD-J020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TWA-A530\x00\x00',
-      b'57114-TWA-B520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TWA-L420\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TWA-A330\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TWA-A330\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A340\x00\x00',
-    ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A120\x00\x00',
-    ],
-  },
   CAR.CIVIC: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5AA-A640\x00\x00',
@@ -1301,9 +1229,7 @@ FW_VERSIONS = {
 
 DBC = {
   CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORD_2021: dbc_dict('honda_accord_2018_can_generated', None),
   CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORDH_2021: dbc_dict('honda_accord_2018_can_generated', None),
   CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
@@ -1341,8 +1267,5 @@ SPEED_FACTOR = {
 }
 
 OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV])
-HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
+HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.CRV_5G, CAR.ACURA_RDX_3G])
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])
-
-# Bosch models with alternate set of LKAS_HUD messages
-HONDA_BOSCH_EXT = set([CAR.ACCORD_2021, CAR.ACCORDH_2021])

selfdrive/test/test_models.py

@@ -182,12 +182,6 @@ class TestCarModel(unittest.TestCase):
       if failed_checks['brakePressed'] < 150:
         del failed_checks['brakePressed']
 
-    # TODO: use the same signal in panda and carState
-    # tolerate a small delay between the button press and PCM entering a cruise state
-    if self.car_model == HONDA.ACCORD_2021:
-      if failed_checks['controlsAllowed'] < 500:
-        del failed_checks['controlsAllowed']
-
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with CarState: {failed_checks}")
 
 if __name__ == "__main__":

selfdrive/test/test_routes.py

@@ -52,9 +52,7 @@ routes = [
   TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),
   TestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
   TestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
-  TestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD_2021),  # 2.0T
   TestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH),
-  TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH_2021),
   TestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
   TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
   TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),