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Car Port: 2022 Honda Civic (#24535)

Browse Source 
* master 2022 Civic

* bump panda

* bump

* bump cereal

* fix

* needed

* try for now

* maybe

* revert for now

* move to Cam parser

* fix

* move to cam

* need AEB_STATUS too

* bump for debug prints

* bump opendbc and add cruise_params

* bump opendbc and update cruise_params

* bump

* test route

* update ref

* Revert "update ref"

This reverts commit 28345dab63.

* cleanup

* just to test

* bump

* revert

* need to send val 12 too?

* change bus

* not needed

* update bus

* syntax

* move this to other bus too

* Revert "move this to other bus too"

This reverts commit 770bf4745e.

* test new lane line signal

* needed too

* maybe need both?

* Test new LKAS hud message

* bump

* missing comma

* missing

* maybe

* add frame and idx

* add in hud_lanes

* switch this too

* bump panda

* add this

* I guess need this too

* to match

* also

* wasnt correct

* bump opendbc

* bump panda

* move to cam parser

* missing

* add here too

* bump

* remove from cam parser

* bump

* back to cam parser

* its 5hz

* bump for new checksum function

* bump for correct frequency

* update frame and idx

* bump

* bump and update

* send set me bit

* bump

* pass these values through

* silly atom

* ret

* fix this

* use copy instead

* add these too

* to check keyerror

* switch

* bump submodules

* send too

* proper

* Replace HUD with BOH

* add dashed lanes

* small fix

* clean up

* not needed anymore

* remove and change

* this too

* dont always set

* remove additional LKAS message

* bump

* add

* to test

* add frame

* bump

* rebase

* remove default values

* rename

* clean up some carstate logic

* regenerate docs

* spacing

* simplify more logic

* bump opendbc

* bump opendbc

* only if radarless

* panda at least builds now

* add comment

* bump

* fixes

* bump opendbc

* bump opendbc

fix for new DBC

* bump opendbc

* bump opendbc

* carstate: fix bus, parser signals

* Set safety param

* pt bus is 0, not 1

* Fix SCM_BUTTONS and bump panda and opendbc

* fixes for ACC_CONTROL

* bump opendbc

* bump opendbc

* convert from MPH on HONDA_BOSCH_RADARLESS

move is_metric

* make sure we don't disable if radarless

* don't show incorrect harness on website

don't show incorrect harness on website

* bump panda

* remove/update comments

* bump panda

* Fix harnesses

* one line check

* bump opendbc

* remove this

* Some carstate cleanup

We removed STANDSTILL->WHEELS_MOVING

we don't use CRUISE_PARAMS

add back

add back

* more cleanup

* update docs

* marketing says it has TJA and ACC with low speed follow

* send buttons on bus 0

bump panda

* comment

* camera needs to see buttons on bus 2

comment

* bump panda

* add to releases

* remove comments

* comment

* we don't use stock hud yet

Co-authored-by: vanillagorillaa <ntmccoy@yahoo.com>
Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Co-authored-by: kevinharbin <76784413+kevinharbin@users.noreply.github.com>
old-commit-hash: abcc7338d4
taco
Shane Smiskol 3 years ago committed by GitHub
parent 2ca457fcab
commit 43bb8dd087
11 changed files with 115 additions and 52 deletions
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 2
      panda
  4. 1
      release/files_common
  5. 3
      selfdrive/car/docs_definitions.py
  6. 6
      selfdrive/car/honda/carcontroller.py
  7. 52
      selfdrive/car/honda/carstate.py
  8. 18
      selfdrive/car/honda/hondacan.py
  9. 10
      selfdrive/car/honda/interface.py
  10. 60
      selfdrive/car/honda/values.py
  11. 1
      selfdrive/car/tests/routes.py

1
RELEASES.md
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@ -13,6 +13,7 @@ Version 0.8.15 (2022-XX-XX)
* Display speed limit while navigating
* Reduced power usage: device runs cooler and fan spins less
* AGNOS 5
* Honda Civic 2022 support
* Hyundai Tucson 2021 support thanks to bluesforte!
* Lexus NX Hybrid 2020 support thanks to AlexandreSato!

3
docs/CARS.md
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@ -149,7 +149,7 @@ How We Rate The Cars
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
# Bronze - 69 cars
# Bronze - 70 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
@ -168,6 +168,7 @@ How We Rate The Cars
|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|

2
panda

@ -1 +1 @@
Subproject commit 515df2bb727fe616869e5d460817e8898792e44f
Subproject commit e1b2f1253cb7f05f39d4afa21500565bb8b955d2

1
release/files_common
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@ -495,6 +495,7 @@ opendbc/honda_odyssey_exl_2018_generated.dbc
opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
opendbc/honda_insight_ex_2019_can_generated.dbc
opendbc/acura_ilx_2016_nidec.dbc
opendbc/honda_civic_ex_2022_can_generated.dbc
opendbc/kia_ev6.dbc
opendbc/hyundai_kia_generic.dbc

3
selfdrive/car/docs_definitions.py
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@ -123,7 +123,8 @@ class CarInfo:
class Harness(Enum):
nidec = "Honda Nidec"
bosch = "Honda Bosch A"
bosch_a = "Honda Bosch A"
bosch_b = "Honda Bosch B"
toyota = "Toyota"
subaru = "Subaru"
fca = "FCA"

6
selfdrive/car/honda/carcontroller.py
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@ -7,7 +7,7 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import create_gas_interceptor_command
from selfdrive.car.honda import hondacan
from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from selfdrive.controls.lib.drive_helpers import rate_limit
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -189,7 +189,7 @@ class CarController:
pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6)
if not self.CP.openpilotLongitudinalControl:
if self.frame % 2 == 0:
if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message
idx = self.frame // 2
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx))
# If using stock ACC, spam cancel command to kill gas when OP disengages.
@ -241,7 +241,7 @@ class CarController:
idx = (self.frame // 10) % 4
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame))
if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
self.speed = pcm_speed

52
selfdrive/car/honda/carstate.py
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@ -5,8 +5,9 @@ from common.conversions import Conversions as CV
from common.numpy_fast import interp
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.honda.hondacan import get_pt_bus
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
TransmissionType = car.CarParams.TransmissionType
@ -80,7 +81,8 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
checks.append(("EPB_STATUS", 50))
if CP.carFingerprint in HONDA_BOSCH:
if not CP.openpilotLongitudinalControl:
# these messages are on camera bus on radarless cars
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
signals += [
("CRUISE_CONTROL_LABEL", "ACC_HUD"),
("CRUISE_SPEED", "ACC_HUD"),
@ -100,23 +102,16 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
else:
checks.append(("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, 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, CAR.CIVIC_2022):
signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
elif CP.carFingerprint in (CAR.FREED, CAR.HRV):
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"),
("WHEELS_MOVING", "STANDSTILL")]
else:
signals += [("DOOR_OPEN_FL", "DOORS_STATUS"),
("DOOR_OPEN_FR", "DOORS_STATUS"),
("DOOR_OPEN_RL", "DOORS_STATUS"),
("DOOR_OPEN_RR", "DOORS_STATUS"),
("WHEELS_MOVING", "STANDSTILL")]
checks += [
("DOORS_STATUS", 3),
("STANDSTILL", 50),
]
("DOOR_OPEN_RR", "DOORS_STATUS")]
checks.append(("DOORS_STATUS", 3))
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
@ -175,7 +170,8 @@ class CarState(CarStateBase):
# STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
# panda checks if the signal is non-zero
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
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):
# TODO: find a common signal across all cars
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, CAR.CIVIC_2022):
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@ -235,11 +231,15 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in HONDA_BOSCH:
if not self.CP.openpilotLongitudinalControl:
ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
# ACC_HUD is on camera bus on radarless cars
acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor
self.v_cruise_pcm_prev = ret.cruiseState.speed
else:
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
@ -269,14 +269,14 @@ class CarState(CarStateBase):
ret.brakePressed = True
if self.CP.carFingerprint in HONDA_BOSCH:
# TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
else:
ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
if self.CP.carFingerprint in HONDA_BOSCH:
self.stock_hud = False
ret.stockFcw = False
else:
if self.CP.carFingerprint not in HONDA_BOSCH:
ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
self.stock_hud = cp_cam.vl["ACC_HUD"]
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
@ -291,8 +291,7 @@ class CarState(CarStateBase):
def get_can_parser(self, CP):
signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg)
bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint))
@staticmethod
def get_cam_can_parser(CP):
@ -301,7 +300,14 @@ class CarState(CarStateBase):
("STEERING_CONTROL", 100),
]
if CP.carFingerprint not in HONDA_BOSCH:
if CP.carFingerprint in HONDA_BOSCH_RADARLESS and not CP.openpilotLongitudinalControl:
signals += [
("CRUISE_SPEED", "ACC_HUD"),
("CRUISE_CONTROL_LABEL", "ACC_HUD"),
]
checks.append(("ACC_HUD", 10))
elif CP.carFingerprint not in HONDA_BOSCH:
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
("AEB_REQ_1", "BRAKE_COMMAND"),
("FCW", "BRAKE_COMMAND"),

18
selfdrive/car/honda/hondacan.py
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@ -1,5 +1,5 @@
from common.conversions import Conversions as CV
from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams
from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
# CAN bus layout with relay
# 0 = ACC-CAN - radar side
@ -7,8 +7,9 @@ from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControll
# 2 = ACC-CAN - camera side
# 3 = F-CAN A - OBDII port
def get_pt_bus(car_fingerprint):
return 1 if car_fingerprint in HONDA_BOSCH else 0
return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0
def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
@ -18,6 +19,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
# normally steering commands are sent to radar, which forwards them to powertrain bus
return 0
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
# TODO: do we loose pressure if we keep pump off for long?
brakelights = apply_brake > 0
@ -78,6 +80,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
return commands
def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
values = {
"STEER_TORQUE": apply_steer if lkas_active else 0,
@ -98,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame):
commands = []
bus_pt = get_pt_bus(CP.carFingerprint)
radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@ -135,6 +138,12 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
'BEEP': 0,
}
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
lkas_hud_values['LANE_LINES'] = 3
lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
# TODO: understand this better, does car need to see it fall after start up?
lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1
if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
lkas_hud_values['SET_ME_X48'] = 0x48
@ -162,5 +171,6 @@ def spam_buttons_command(packer, button_val, idx, car_fingerprint):
'CRUISE_BUTTONS': button_val,
'CRUISE_SETTING': 0,
}
bus = get_pt_bus(car_fingerprint)
# send buttons to camera on radarless cars
bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)

10
selfdrive/car/honda/interface.py
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@ -3,7 +3,7 @@ from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from common.numpy_fast import interp
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@ -37,6 +37,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
ret.radarOffCan = True
if candidate not in HONDA_BOSCH_RADARLESS:
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
ret.openpilotLongitudinalControl = disable_radar
@ -104,7 +105,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1.
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
@ -304,6 +305,9 @@ class CarInterface(CarInterfaceBase):
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
if candidate in HONDA_BOSCH_RADARLESS:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
# 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
@ -325,7 +329,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def init(CP, logcan, sendcan):
if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl:
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
# returns a car.CarState

60
selfdrive/car/honda/values.py
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@ -75,6 +75,7 @@ class CAR:
CIVIC = "HONDA CIVIC 2016"
CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
CIVIC_2022 = "HONDA CIVIC 2022"
ACURA_ILX = "ACURA ILX 2016"
CRV = "HONDA CR-V 2016"
CRV_5G = "HONDA CR-V 2017"
@ -108,33 +109,34 @@ class HondaCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.ACCORD: [
HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
],
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
CAR.CIVIC_BOSCH: [
HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch),
HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch),
HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch),
CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a),
CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch),
CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec),
CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec),
CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
}
@ -1392,6 +1394,40 @@ FW_VERSIONS = {
b'57114-TYF-E030\x00\x00'
],
},
CAR.CIVIC_2022: {
(Ecu.eps, 0x18DA30F1, None): [
b'39990-T39-A130\x00\x00',
b'39990-T43-J020\x00\x00',
],
(Ecu.gateway, 0x18DAEFF1, None): [
b'38897-T20-A020\x00\x00',
b'38897-T20-A510\x00\x00',
b'38897-T21-A010\x00\x00',
],
(Ecu.srs, 0x18DA53F1, None): [
b'77959-T20-A970\x00\x00',
b'77959-T47-A940\x00\x00',
],
(Ecu.combinationMeter, 0x18DA60F1, None): [
b'78108-T21-A220\x00\x00',
b'78108-T21-A620\x00\x00',
b'78108-T23-A110\x00\x00',
],
(Ecu.vsa, 0x18DA28F1, None): [
b'57114-T20-AB40\x00\x00',
b'57114-T43-JB30\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-65D-A020\x00\x00',
b'28101-65D-A120\x00\x00',
b'28101-65H-A020\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-64L-A540\x00\x00',
b'37805-64S-A540\x00\x00',
b'37805-64S-A720\x00\x00',
],
},
}
DBC = {
@ -1417,6 +1453,7 @@ DBC = {
CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
}
STEER_THRESHOLD = {
@ -1429,5 +1466,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE}
HONDA_BOSCH = {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}
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}

1
selfdrive/car/tests/routes.py
Unescape View File

@ -71,6 +71,7 @@ routes = [
TestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
TestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
TestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
TestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
TestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),

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