You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
237 lines
12 KiB
237 lines
12 KiB
1 week ago
|
#!/usr/bin/env python3
|
||
|
|
import numpy as np
|
||
|
|
from opendbc.car import get_safety_config, structs, uds
|
||
|
|
from opendbc.car.common.conversions import Conversions as CV
|
||
|
|
from opendbc.car.disable_ecu import disable_ecu
|
||
|
|
from opendbc.car.honda.hondacan import CanBus
|
||
|
|
from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
|
||
|
|
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
|
||
|
|
from opendbc.car.honda.carcontroller import CarController
|
||
|
|
from opendbc.car.honda.carstate import CarState
|
||
|
|
from opendbc.car.honda.radar_interface import RadarInterface
|
||
|
|
from opendbc.car.interfaces import CarInterfaceBase
|
||
|
|
|
||
|
|
TransmissionType = structs.CarParams.TransmissionType
|
||
|
|
|
||
|
|
|
||
|
|
class CarInterface(CarInterfaceBase):
|
||
|
|
CarState = CarState
|
||
|
|
CarController = CarController
|
||
|
|
RadarInterface = RadarInterface
|
||
|
|
|
||
|
|
@staticmethod
|
||
|
|
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
||
|
|
if CP.carFingerprint in HONDA_BOSCH:
|
||
|
|
return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
|
||
|
|
else:
|
||
|
|
# NIDECs don't allow acceleration near cruise_speed,
|
||
|
|
# so limit limits of pid to prevent windup
|
||
|
|
ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
|
||
|
|
ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
|
||
|
|
return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
|
||
|
|
|
||
|
|
@staticmethod
|
||
|
|
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||
|
|
ret.brand = "honda"
|
||
|
|
|
||
|
|
CAN = CanBus(ret, fingerprint)
|
||
|
|
|
||
|
|
if candidate in HONDA_BOSCH:
|
||
|
|
cfgs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
|
||
|
|
if candidate in HONDA_BOSCH_CANFD and CAN.pt >= 4:
|
||
|
|
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
|
||
|
|
ret.safetyConfigs = cfgs
|
||
|
|
|
||
|
|
ret.radarUnavailable = True
|
||
|
|
# Disable the radar and let openpilot control longitudinal
|
||
|
|
# WARNING: THIS DISABLES AEB!
|
||
|
|
# If Bosch radarless, this blocks ACC messages from the camera
|
||
|
|
# TODO: get radar disable working on Bosch CANFD
|
||
|
|
ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
|
||
|
|
ret.openpilotLongitudinalControl = alpha_long
|
||
|
|
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||
|
|
else:
|
||
|
|
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
|
||
|
|
ret.openpilotLongitudinalControl = True
|
||
|
|
|
||
|
|
ret.pcmCruise = True
|
||
|
|
|
||
|
|
if candidate == CAR.HONDA_CRV_5G:
|
||
|
|
ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
|
||
|
|
|
||
|
|
# Detect Bosch cars with new HUD msgs
|
||
|
|
if any(0x33DA in f for f in fingerprint.values()):
|
||
|
|
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
|
||
|
|
|
||
|
|
if 0x184 in fingerprint[CAN.pt]:
|
||
|
|
ret.flags |= HondaFlags.HYBRID.value
|
||
|
|
|
||
|
|
if ret.flags & HondaFlags.ALLOW_MANUAL_TRANS and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)):
|
||
|
|
# Manual transmission support for allowlisted cars only, to prevent silent fall-through on auto-detection failures
|
||
|
|
ret.transmissionType = TransmissionType.manual
|
||
|
|
elif 0x191 in fingerprint[CAN.pt] and candidate != CAR.ACURA_RDX:
|
||
|
|
# Traditional CVTs, gearshift position in GEARBOX_CVT
|
||
|
|
ret.transmissionType = TransmissionType.cvt
|
||
|
|
else:
|
||
|
|
# Traditional autos, direct-drive EVs and eCVTs, gearshift position in GEARBOX_AUTO
|
||
|
|
ret.transmissionType = TransmissionType.automatic
|
||
|
|
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
|
||
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||
|
|
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
|
||
|
|
ret.steerActuatorDelay = 0.1
|
||
|
|
|
||
|
|
if candidate in HONDA_BOSCH:
|
||
|
|
ret.longitudinalActuatorDelay = 0.5 # s
|
||
|
|
if candidate in HONDA_BOSCH_RADARLESS:
|
||
|
|
ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
|
||
|
|
else:
|
||
|
|
# default longitudinal tuning for all hondas
|
||
|
|
ret.longitudinalTuning.kiBP = [0., 5., 35.]
|
||
|
|
ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
|
||
|
|
|
||
|
|
# Disable control if EPS mod detected
|
||
|
|
for fw in car_fw:
|
||
|
|
if fw.ecu == "eps" and b"," in fw.fwVersion:
|
||
|
|
ret.dashcamOnly = True
|
||
|
|
|
||
|
|
if candidate == CAR.HONDA_CIVIC:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
|
||
|
|
|
||
|
|
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
|
||
|
|
if candidate == CAR.HONDA_CIVIC_BOSCH:
|
||
|
|
CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 750]
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_CIVIC_2022:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
|
||
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_ACCORD:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
|
||
|
|
|
||
|
|
elif candidate == CAR.ACURA_ILX:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
|
||
|
|
|
||
|
|
elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
|
||
|
|
ret.wheelSpeedFactor = 1.025
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_CRV_5G:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
|
||
|
|
ret.wheelSpeedFactor = 1.025
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_CRV_HYBRID:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
|
||
|
|
ret.wheelSpeedFactor = 1.025
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_FIT:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_FREED:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
|
||
|
|
|
||
|
|
elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
|
||
|
|
if candidate == CAR.HONDA_HRV:
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
|
||
|
|
ret.wheelSpeedFactor = 1.025
|
||
|
|
else:
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
|
||
|
|
|
||
|
|
elif candidate == CAR.ACURA_RDX:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
|
||
|
|
|
||
|
|
elif candidate == CAR.ACURA_RDX_3G:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_ODYSSEY:
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_PILOT:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_RIDGELINE:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
|
||
|
|
|
||
|
|
elif candidate in (CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G):
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_E:
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
|
||
|
|
|
||
|
|
elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
|
||
|
|
# Stock camera sends up to 2560 during LKA operation and up to 3840 during RDM operation
|
||
|
|
# Steer motor torque does rise a little above 2560, but not linearly, RDM also applies one-sided brake drag
|
||
|
|
#ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 3072], [0, 2560, 3840]]
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
|
||
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||
|
|
ret.steerActuatorDelay = 0.15
|
||
|
|
CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2000]
|
||
|
|
if not ret.openpilotLongitudinalControl:
|
||
|
|
# When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
|
||
|
|
ret.minSteerSpeed = 70. * CV.KPH_TO_MS
|
||
|
|
|
||
|
|
else:
|
||
|
|
ret.steerActuatorDelay = 0.15
|
||
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
|
||
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||
|
|
|
||
|
|
# These cars use alternate user brake msg (0x1BE)
|
||
|
|
if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD):
|
||
|
|
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
|
||
|
|
|
||
|
|
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
|
||
|
|
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value
|
||
|
|
if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
|
||
|
|
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value
|
||
|
|
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
|
||
|
|
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_LONG.value
|
||
|
|
if candidate in HONDA_BOSCH_RADARLESS:
|
||
|
|
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
|
||
|
|
if candidate in HONDA_BOSCH_CANFD:
|
||
|
|
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value
|
||
|
|
|
||
|
|
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||
|
|
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
|
||
|
|
# conflict with PCM acc
|
||
|
|
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
|
||
|
|
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
|
||
|
|
|
||
|
|
ret.steerLimitTimer = 0.8
|
||
|
|
ret.radarDelay = 0.1
|
||
|
|
|
||
|
|
return ret
|
||
|
|
|
||
|
|
@staticmethod
|
||
|
|
def init(CP, can_recv, can_send, communication_control=None):
|
||
|
|
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
|
||
|
|
# 0x80 silences response
|
||
|
|
if communication_control is None:
|
||
|
|
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
|
||
|
|
uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
|
||
|
|
disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=communication_control)
|
||
|
|
|
||
|
|
@staticmethod
|
||
|
|
def deinit(CP, can_recv, can_send):
|
||
|
|
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
|
||
|
|
uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
|
||
|
|
CarInterface.init(CP, can_recv, can_send, communication_control)
|