sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
* Add 2021 Accord 2.0 Touring & Hybrid Touring

- Create the HONDA_BOSCH_EXT set for HONDA_BOSCH cars that utilize the new extended IDs for LKAS_HUD

* Remove ids added to the wrong car

* add comment

* fix undefined signal

* fix tests

Co-authored-by: Chris Souers <csouers@gmail.com>
old-commit-hash: 7e53a42984
commatwo_master
Adeeb Shihadeh 4 years ago committed by GitHub
parent 760cdcd896
commit 3c4005ed10
7 changed files with 104 additions and 13 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      README.md
  2. 6
      selfdrive/car/honda/carstate.py
  3. 12
      selfdrive/car/honda/hondacan.py
  4. 2
      selfdrive/car/honda/interface.py
  5. 85
      selfdrive/car/honda/values.py
  6. 6
      selfdrive/test/test_models.py
  7. 2
      selfdrive/test/test_routes.py

4
README.md
Unescape View File

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

6
selfdrive/car/honda/carstate.py
Unescape View File

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

12
selfdrive/car/honda/hondacan.py
Unescape View File

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

2
selfdrive/car/honda/interface.py
Unescape View File

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

85
selfdrive/car/honda/values.py
Unescape View File

@ -51,6 +51,8 @@ VISUAL_HUD = {
class CAR: class CAR:
ACCORD = "HONDA ACCORD 2018" ACCORD = "HONDA ACCORD 2018"
ACCORDH = "HONDA ACCORD HYBRID 2018" ACCORDH = "HONDA ACCORD HYBRID 2018"
ACCORD_2021 = "HONDA ACCORD 2021"
ACCORDH_2021 = "HONDA ACCORD HYBRID 2021"
CIVIC = "HONDA CIVIC 2016" CIVIC = "HONDA CIVIC 2016"
CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
@ -287,12 +289,10 @@ FW_VERSIONS = {
], ],
(Ecu.fwdCamera, 0x18dab5f1, None): [ (Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TWA-A070\x00\x00', b'36161-TWA-A070\x00\x00',
b'36161-TWA-A330\x00\x00',
], ],
(Ecu.fwdRadar, 0x18dab0f1, None): [ (Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TWA-A080\x00\x00', b'36802-TWA-A080\x00\x00',
b'36802-TWA-A070\x00\x00', b'36802-TWA-A070\x00\x00',
b'36802-TWA-A330\x00\x00',
], ],
(Ecu.eps, 0x18da30f1, None): [ (Ecu.eps, 0x18da30f1, None): [
b'39990-TVA-A160\x00\x00', b'39990-TVA-A160\x00\x00',
@ -300,6 +300,78 @@ FW_VERSIONS = {
b'39990-TVA-A340\x00\x00', 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: { CAR.CIVIC: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A640\x00\x00', b'37805-5AA-A640\x00\x00',
@ -1229,7 +1301,9 @@ FW_VERSIONS = {
DBC = { DBC = {
CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None), 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: 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_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: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None), CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
@ -1267,5 +1341,8 @@ SPEED_FACTOR = {
} }
OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV]) OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV])
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 = 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_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G]) HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_2021, 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])

6
selfdrive/test/test_models.py
Unescape View File

@ -182,6 +182,12 @@ class TestCarModel(unittest.TestCase):
if failed_checks['brakePressed'] < 150: if failed_checks['brakePressed'] < 150:
del failed_checks['brakePressed'] 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}") self.assertFalse(len(failed_checks), f"panda safety doesn't agree with CarState: {failed_checks}")
if __name__ == "__main__": if __name__ == "__main__":

2
selfdrive/test/test_routes.py
Unescape View File

@ -52,7 +52,9 @@ routes = [
TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN), TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),
TestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T 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("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("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("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY), TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL), TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),

Write Preview
Loading…
Cancel
Save