From 131263a75b1cbf6bff0e01a1561d87d25faae353 Mon Sep 17 00:00:00 2001
From: FAN HANGYU <111691572+MaloneFan@users.noreply.github.com>
Date: Tue, 1 Nov 2022 04:13:57 +0800
Subject: [PATCH] Honda: add Chinese Odyssey FW versions (#25943)

* Update values.py

add a carFW of odyssey_chn

* move after odyssey

* common carparams

* just ignore

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/honda/interface.py | 18 ++++++------------
 selfdrive/car/honda/values.py    | 17 +++++++++++++++++
 selfdrive/car/tests/routes.py    |  2 +-
 3 files changed, 24 insertions(+), 13 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index c884f586a0..e397f02838 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -220,23 +220,17 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
       tire_stiffness_factor = 0.677
 
-    elif candidate == CAR.ODYSSEY:
-      ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
+    elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
+      ret.mass = 1900. + STD_CARGO_KG
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 14.35  # as spec
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      tire_stiffness_factor = 0.82
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-
-    elif candidate == CAR.ODYSSEY_CHN:
-      ret.mass = 1849.2 + STD_CARGO_KG  # mean of 4 models in kg
-      ret.wheelbase = 2.90
-      ret.centerToFront = ret.wheelbase * 0.41  # from CAR.ODYSSEY
-      ret.steerRatio = 14.35
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
+      if candidate == CAR.ODYSSEY_CHN:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
     elif candidate in (CAR.PILOT, CAR.PASSPORT):
       ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index e0810e0bbb..2510f2e1ff 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1031,6 +1031,23 @@ FW_VERSIONS = {
       b'54008-THR-A020\x00\x00',
     ],
   },
+  CAR.ODYSSEY_CHN: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T6D-H220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T6A-J010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T6A-F310\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T6A-P040\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T6A-P110\x00\x00',
+    ],
+  },
   CAR.PILOT: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TG7-A520\x00\x00',
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 326d80b822..5c6d214bcc 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -25,6 +25,7 @@ non_tested_cars = [
   GM.BOLT_EV,
   HYUNDAI.GENESIS_G90,
   HYUNDAI.KIA_OPTIMA_H,
+  HONDA.ODYSSEY_CHN,
 ]
 
 CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
@@ -61,7 +62,6 @@ routes = [
   CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
   CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
   CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
-  CarTestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),
   CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
   CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
   CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD),  # 2021 with new style HUD msgs