Merge 2021 Accords into 2018 Accords (#23174)

* Merge 2021 Accords into 2018 Accords

* last of them
old-commit-hash: 1638975627

selfdrive/car/honda/carstate.py

@@ -107,7 +107,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     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, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@@ -185,7 +185,7 @@ 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, CAR.HONDA_E):
+    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, CAR.HONDA_E):
       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:
@@ -236,7 +236,7 @@ class CarState(CarStateBase):
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, 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.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                   CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
       self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
     else:

selfdrive/car/honda/interface.py

@@ -114,7 +114,7 @@ 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

@@ -66,8 +66,6 @@ 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"
@@ -105,7 +103,9 @@ FW_VERSIONS = {
       b'37805-6A0-A750\x00\x00',
       b'37805-6A0-A840\x00\x00',
       b'37805-6A0-A850\x00\x00',
+      b'37805-6A0-AF30\x00\x00',
       b'37805-6A0-AG30\x00\x00',
+      b'37805-6B2-C520\x00\x00',
       b'37805-6A0-C540\x00\x00',
       b'37805-6A1-H650\x00\x00',
       b'37805-6B2-A550\x00\x00',
@@ -131,6 +131,7 @@ FW_VERSIONS = {
       b'28101-6A7-A410\x00\x00',
       b'28101-6A7-A510\x00\x00',
       b'28101-6A7-A610\x00\x00',
+      b'28101-6A7-A710\x00\x00',
       b'28101-6A9-H140\x00\x00',
       b'28101-6A9-H420\x00\x00',
       b'28102-6B8-A560\x00\x00',
@@ -155,10 +156,12 @@ FW_VERSIONS = {
       b'57114-TVA-B040\x00\x00',
       b'57114-TVA-B050\x00\x00',
       b'57114-TVA-B060\x00\x00',
+      b'57114-TVA-B530\x00\x00',
       b'57114-TVA-C040\x00\x00',
       b'57114-TVA-C050\x00\x00',
       b'57114-TVA-C060\x00\x00',
       b'57114-TVA-C530\x00\x00',
+      b'57114-TVA-E520\x00\x00',
       b'57114-TVE-H250\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
@@ -166,6 +169,7 @@ FW_VERSIONS = {
       b'39990-TVA-A140\x00\x00',
       b'39990-TVA-A150\x00\x00',
       b'39990-TVA-A160\x00\x00',
+      b'39990-TVA-A340\x00\x00',
       b'39990-TVA-X030\x00\x00',
       b'39990-TVA-X040\x00\x00',
       b'39990-TVA,A150\x00\x00',
@@ -173,6 +177,7 @@ FW_VERSIONS = {
     ],
     (Ecu.unknown, 0x18da3af1, None): [
       b'39390-TVA-A020\x00\x00',
+      b'39390-TVA-A120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBX-H230\x00\x00',
@@ -191,6 +196,7 @@ FW_VERSIONS = {
       b'78109-TVA-A120\x00\x00',
       b'78109-TVA-A210\x00\x00',
       b'78109-TVA-A220\x00\x00',
+      b'78109-TVA-A230\x00\x00',
       b'78109-TVA-A310\x00\x00',
       b'78109-TVA-C010\x00\x00',
       b'78109-TVA-L010\x00\x00',
@@ -203,6 +209,7 @@ FW_VERSIONS = {
       b'78109-TVC-A130\x00\x00',
       b'78109-TVC-A210\x00\x00',
       b'78109-TVC-A220\x00\x00',
+      b'78109-TVC-A230\x00\x00',
       b'78109-TVC-C010\x00\x00',
       b'78109-TVC-C110\x00\x00',
       b'78109-TVC-L010\x00\x00',
@@ -214,12 +221,15 @@ FW_VERSIONS = {
     ],
     (Ecu.hud, 0x18da61f1, None): [
       b'78209-TVA-A010\x00\x00',
+      b'78209-TVA-A110\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TBX-H140\x00\x00',
       b'36802-TVA-A150\x00\x00',
       b'36802-TVA-A160\x00\x00',
       b'36802-TVA-A170\x00\x00',
+      b'36802-TVA-A330\x00\x00',
+      b'36802-TVC-A330\x00\x00',
       b'36802-TVE-H070\x00\x00',
       b'36802-TWA-A070\x00\x00',
       b'36802-TWA-A080\x00\x00',
@@ -227,6 +237,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TBX-H130\x00\x00',
       b'36161-TVA-A060\x00\x00',
+      b'36161-TVA-A330\x00\x00',
       b'36161-TVC-A330\x00\x00',
       b'36161-TVE-H050\x00\x00',
       b'36161-TWA-A070\x00\x00',
@@ -246,6 +257,7 @@ FW_VERSIONS = {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TWA-A040\x00\x00',
       b'57114-TWA-A050\x00\x00',
+      b'57114-TWA-A530\x00\x00',
       b'57114-TWA-B520\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
@@ -258,6 +270,7 @@ FW_VERSIONS = {
       b'78109-TWA-A030\x00\x00',
       b'78109-TWA-A110\x00\x00',
       b'78109-TWA-A120\x00\x00',
+      b'78109-TWA-A130\x00\x00',
       b'78109-TWA-A210\x00\x00',
       b'78109-TWA-A220\x00\x00',
       b'78109-TWA-A230\x00\x00',
@@ -273,95 +286,18 @@ 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-A070\x00\x00',
       b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A330\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TVA-A160\x00\x00',
       b'39990-TVA-A150\x00\x00',
-    ],
-  },
-  CAR.ACCORD_2021: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-6A0-AF30\x00\x00',
-      b'37805-6B2-C520\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-6A7-A710\x00\x00',
-      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',
-      b'38897-TVA-A240\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TVA-B530\x00\x00',
-      b'57114-TVA-E520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TVA-L420\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TVA-A230\x00\x00',
-      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-TVA-A330\x00\x00',
-      b'36161-TVC-A330\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TVA-A330\x00\x00',
-      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-A130\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): [
@@ -1419,9 +1355,7 @@ 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),
@@ -1454,6 +1388,6 @@ STEER_THRESHOLD = {
 HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
 HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                     CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
-HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
+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, CAR.HONDA_E])
-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])

selfdrive/test/test_models.py

@@ -221,7 +221,7 @@ class TestCarModel(unittest.TestCase):
 
     # 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 self.car_model == HONDA.ACCORD:
       if failed_checks['controlsAllowed'] < 500:
         del failed_checks['controlsAllowed']
 

selfdrive/test/test_routes.py

@@ -53,9 +53,9 @@ 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("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD),  # 2021 with new style HUD msgs
   TestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH),
-  TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH_2021),
+  TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs
   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),