Honda e Port (#22108)

* Honda e Port

* Test route for Honda e

* remove

* Update README.md

* update values based on logs

* no need for Honda e specific DBC

* fix tests

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

README.md

@@ -77,6 +77,7 @@ Supported Cars
 | Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | CR-V 2017-21                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | e 2020                        | All 		          | Stock            | 0mph               | 3mph              |
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |

selfdrive/car/honda/carstate.py

@@ -75,7 +75,7 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
       ("SCM_BUTTONS", 25),
     ]
 
-  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G):
+  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
     checks += [
       (gearbox_msg, 50),
     ]
@@ -119,7 +119,7 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
     else:
       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.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)]
@@ -225,7 +225,7 @@ class CarState(CarStateBase):
 
     # ******************* parse out can *******************
     # 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.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:
@@ -276,7 +276,7 @@ class CarState(CarStateBase):
     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,
-                                  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, CAR.HONDA_E):
       self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
       main_on = cp.vl["SCM_FEEDBACK"]["MAIN_ON"]
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:

selfdrive/car/honda/interface.py

@@ -289,6 +289,16 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
+    elif candidate == CAR.HONDA_E:
+      stop_and_go = True
+      ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.5
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 16.71
+      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 = [[0.6], [0.18]] # TODO: can probably use some tuning
+
     else:
       raise ValueError("unsupported car %s" % candidate)
 

selfdrive/car/honda/values.py

@@ -75,6 +75,7 @@ class CAR:
   PILOT_2019 = "HONDA PILOT 2019"
   RIDGELINE = "HONDA RIDGELINE 2017"
   INSIGHT = "HONDA INSIGHT 2019"
+  HONDA_E = "HONDA E 2020"
 
 # diag message that in some Nidec cars only appear with 1s freq if VIN query is performed
 DIAG_MSGS = {1600: 5, 1601: 8}
@@ -1231,6 +1232,32 @@ FW_VERSIONS = {
       b'78109-TV9-A510\x00\x00',
     ],
   },
+  CAR.HONDA_E:{
+    (Ecu.eps, 0x18DA30F1, None):[
+      b'39990-TYF-N030\x00\x00'
+    ],
+    (Ecu.gateway, 0x18DAEFF1, None):[
+      b'38897-TYF-E140\x00\x00'
+    ],
+    (Ecu.shiftByWire, 0x18DA0BF1, None):[
+      b'54008-TYF-E010\x00\x00'
+    ],
+    (Ecu.srs, 0x18DA53F1, None):[
+      b'77959-TYF-G430\x00\x00'
+    ],
+    (Ecu.combinationMeter, 0x18DA60F1, None):[
+      b'78108-TYF-G610\x00\x00'
+    ],
+    (Ecu.fwdRadar, 0x18DAB0F1, None):[
+      b'36802-TYF-E030\x00\x00'
+    ],
+    (Ecu.fwdCamera, 0x18DAB5F1, None):[
+      b'36161-TYF-E020\x00\x00'
+    ],
+    (Ecu.vsa, 0x18DA28F1, None):[
+      b'57114-TYF-E030\x00\x00'
+    ],
+  },
 }
 
 DBC = {
@@ -1254,6 +1281,7 @@ DBC = {
   CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
   CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_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),
 }
 
 STEER_THRESHOLD = {
@@ -1273,5 +1301,5 @@ SPEED_FACTOR = {
 }
 
 HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
-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.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.CRV_5G, CAR.ACURA_RDX_3G])

selfdrive/test/test_models.py

@@ -180,7 +180,7 @@ class TestCarModel(unittest.TestCase):
 
     # TODO: honda nidec: do same checks in carState and panda
     if "brakePressed" in failed_checks and self.CP.carName == 'honda' and \
-      (self.car_model not in HONDA_BOSCH or self.car_model == HONDA.CRV_HYBRID):
+      (self.car_model not in HONDA_BOSCH or self.car_model in [HONDA.CRV_HYBRID, HONDA.HONDA_E]):
       if failed_checks['brakePressed'] < 150:
         del failed_checks['brakePressed']
 

selfdrive/test/test_routes.py

@@ -62,6 +62,7 @@ routes = [
   TestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
   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("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),