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Honda: add CanBus class (#31528)

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* init canbus class

* zero

* put back after rebase

* cmt

* ordering

* fix bsm bus

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
pull/31636/head
vanillagorillaa 1 year ago committed by GitHub
parent 7e7a6b1526
commit e0a80d34d9
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4 changed files with 59 additions and 39 deletions
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  1. 15
      selfdrive/car/honda/carcontroller.py
  2. 8
      selfdrive/car/honda/carstate.py
  3. 63
      selfdrive/car/honda/hondacan.py
  4. 12
      selfdrive/car/honda/interface.py

15
selfdrive/car/honda/carcontroller.py
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@ -110,6 +110,7 @@ class CarController(CarControllerBase):
self.CP = CP self.CP = CP
self.packer = CANPacker(dbc_name) self.packer = CANPacker(dbc_name)
self.params = CarControllerParams(CP) self.params = CarControllerParams(CP)
self.CAN = hondacan.CanBus(CP)
self.frame = 0 self.frame = 0
self.braking = False self.braking = False
@ -168,7 +169,7 @@ class CarController(CarControllerBase):
can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1)) can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
# Send steering command. # Send steering command.
can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint, can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,
CS.CP.openpilotLongitudinalControl)) CS.CP.openpilotLongitudinalControl))
# wind brake from air resistance decel at high speed # wind brake from air resistance decel at high speed
@ -202,12 +203,12 @@ class CarController(CarControllerBase):
if not self.CP.openpilotLongitudinalControl: if not self.CP.openpilotLongitudinalControl:
if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint)) can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
# If using stock ACC, spam cancel command to kill gas when OP disengages. # If using stock ACC, spam cancel command to kill gas when OP disengages.
if pcm_cancel_cmd: if pcm_cancel_cmd:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint)) can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
elif CC.cruiseControl.resume: elif CC.cruiseControl.resume:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint)) can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
else: else:
# Send gas and brake commands. # Send gas and brake commands.
@ -220,7 +221,7 @@ class CarController(CarControllerBase):
stopping = actuators.longControlState == LongCtrlState.stopping stopping = actuators.longControlState == LongCtrlState.stopping
self.stopping_counter = self.stopping_counter + 1 if stopping else 0 self.stopping_counter = self.stopping_counter + 1 if stopping else 0
can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas, can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
self.stopping_counter, self.CP.carFingerprint)) self.stopping_counter, self.CP.carFingerprint))
else: else:
apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0) apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
@ -228,7 +229,7 @@ class CarController(CarControllerBase):
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts) pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
pcm_override = True pcm_override = True
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on, can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, fcw_display, pcm_override, pcm_cancel_cmd, fcw_display,
self.CP.carFingerprint, CS.stock_brake)) self.CP.carFingerprint, CS.stock_brake))
self.apply_brake_last = apply_brake self.apply_brake_last = apply_brake
@ -251,7 +252,7 @@ class CarController(CarControllerBase):
if self.frame % 10 == 0: if self.frame % 10 == 0:
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required) 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, CS.acc_hud, CS.lkas_hud)) can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
self.speed = pcm_speed self.speed = pcm_speed

8
selfdrive/car/honda/carstate.py
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@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import interp from openpilot.common.numpy_fast import interp
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \ from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \ HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
HondaFlags HondaFlags
@ -267,7 +267,7 @@ class CarState(CarStateBase):
def get_can_parser(self, CP): def get_can_parser(self, CP):
messages = get_can_messages(CP, self.gearbox_msg) messages = get_can_messages(CP, self.gearbox_msg)
return CANParser(DBC[CP.carFingerprint]["pt"], messages, get_pt_bus(CP.carFingerprint)) return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).pt)
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
@ -287,7 +287,7 @@ class CarState(CarStateBase):
("BRAKE_COMMAND", 50), ("BRAKE_COMMAND", 50),
] ]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)
@staticmethod @staticmethod
def get_body_can_parser(CP): def get_body_can_parser(CP):
@ -296,6 +296,6 @@ class CarState(CarStateBase):
("BSM_STATUS_LEFT", 3), ("BSM_STATUS_LEFT", 3),
("BSM_STATUS_RIGHT", 3), ("BSM_STATUS_RIGHT", 3),
] ]
bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port) bus_body = CanBus(CP).radar # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body) return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body)
return None return None

63
selfdrive/car/honda/hondacan.py
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@ -1,4 +1,5 @@
from openpilot.common.conversions import Conversions as CV from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import CanBusBase
from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
# CAN bus layout with relay # CAN bus layout with relay
@ -8,15 +9,34 @@ from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_
# 3 = F-CAN A - OBDII port # 3 = F-CAN A - OBDII port
def get_pt_bus(car_fingerprint): class CanBus(CanBusBase):
return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0 def __init__(self, CP=None, fingerprint=None) -> None:
# use fingerprint if specified
super().__init__(CP if fingerprint is None else None, fingerprint)
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
self._pt, self._radar = self.offset + 1, self.offset
else:
self._pt, self._radar = self.offset, self.offset + 1
@property
def pt(self) -> int:
return self._pt
@property
def radar(self) -> int:
return self._radar
@property
def camera(self) -> int:
return self.offset + 2
def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
if radar_disabled or no_radar: if radar_disabled or no_radar:
# when radar is disabled, steering commands are sent directly to powertrain bus # when radar is disabled, steering commands are sent directly to powertrain bus
return get_pt_bus(car_fingerprint) return CAN.pt
# normally steering commands are sent to radar, which forwards them to powertrain bus # normally steering commands are sent to radar, which forwards them to powertrain bus
return 0 return 0
@ -26,7 +46,7 @@ def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
# TODO: do we loose pressure if we keep pump off for long? # TODO: do we loose pressure if we keep pump off for long?
brakelights = apply_brake > 0 brakelights = apply_brake > 0
brake_rq = apply_brake > 0 brake_rq = apply_brake > 0
@ -47,13 +67,11 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
"AEB_REQ_2": 0, "AEB_REQ_2": 0,
"AEB_STATUS": 0, "AEB_STATUS": 0,
} }
bus = get_pt_bus(car_fingerprint) return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
return packer.make_can_msg("BRAKE_COMMAND", bus, values)
def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint): def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
commands = [] commands = []
bus = get_pt_bus(car_fingerprint)
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0] min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
control_on = 5 if enabled else 0 control_on = 5 if enabled else 0
@ -90,37 +108,36 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, c
"SET_TO_75": 0x75, "SET_TO_75": 0x75,
"SET_TO_30": 0x30, "SET_TO_30": 0x30,
} }
commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values))
commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values)) commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values))
return commands return commands
def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled): def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled):
values = { values = {
"STEER_TORQUE": apply_steer if lkas_active else 0, "STEER_TORQUE": apply_steer if lkas_active else 0,
"STEER_TORQUE_REQUEST": lkas_active, "STEER_TORQUE_REQUEST": lkas_active,
} }
bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled) bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled)
return packer.make_can_msg("STEERING_CONTROL", bus, values) return packer.make_can_msg("STEERING_CONTROL", bus, values)
def create_bosch_supplemental_1(packer, car_fingerprint): def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
# non-active params # non-active params
values = { values = {
"SET_ME_X04": 0x04, "SET_ME_X04": 0x04,
"SET_ME_X80": 0x80, "SET_ME_X80": 0x80,
"SET_ME_X10": 0x10, "SET_ME_X10": 0x10,
} }
bus = get_lkas_cmd_bus(car_fingerprint) bus = get_lkas_cmd_bus(CAN, car_fingerprint)
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values) return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud): def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
commands = [] commands = []
bus_pt = get_pt_bus(CP.carFingerprint)
radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled) bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
if CP.openpilotLongitudinalControl: if CP.openpilotLongitudinalControl:
acc_hud_values = { acc_hud_values = {
@ -144,7 +161,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2'] acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM'] acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
acc_hud_values['ICONS'] = acc_hud['ICONS'] acc_hud_values['ICONS'] = acc_hud['ICONS']
commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values)) commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
lkas_hud_values = { lkas_hud_values = {
'SET_ME_X41': 0x41, 'SET_ME_X41': 0x41,
@ -173,19 +190,19 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
'CMBS_OFF': 0x01, 'CMBS_OFF': 0x01,
'SET_TO_1': 0x01, 'SET_TO_1': 0x01,
} }
commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values)) commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
if CP.carFingerprint == CAR.CIVIC_BOSCH: if CP.carFingerprint == CAR.CIVIC_BOSCH:
commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {})) commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
return commands return commands
def spam_buttons_command(packer, button_val, car_fingerprint): def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
values = { values = {
'CRUISE_BUTTONS': button_val, 'CRUISE_BUTTONS': button_val,
'CRUISE_SETTING': 0, 'CRUISE_SETTING': 0,
} }
# send buttons to camera on radarless cars # send buttons to camera on radarless cars
bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint) bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
return packer.make_can_msg("SCM_BUTTONS", bus, values) return packer.make_can_msg("SCM_BUTTONS", bus, values)

12
selfdrive/car/honda/interface.py
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@ -3,7 +3,7 @@ from cereal import car
from panda import Panda from panda import Panda
from openpilot.common.conversions import Conversions as CV from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import interp from openpilot.common.numpy_fast import interp
from openpilot.selfdrive.car.honda.hondacan import get_pt_bus from openpilot.selfdrive.car.honda.hondacan import CanBus
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
HONDA_BOSCH_RADARLESS HONDA_BOSCH_RADARLESS
from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car import create_button_events, get_safety_config
@ -36,6 +36,8 @@ class CarInterface(CarInterfaceBase):
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "honda" ret.carName = "honda"
CAN = CanBus(ret, fingerprint)
if candidate in HONDA_BOSCH: if candidate in HONDA_BOSCH:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
ret.radarUnavailable = True ret.radarUnavailable = True
@ -47,20 +49,20 @@ class CarInterface(CarInterfaceBase):
ret.pcmCruise = not ret.openpilotLongitudinalControl ret.pcmCruise = not ret.openpilotLongitudinalControl
else: else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.enableGasInterceptor = 0x201 in fingerprint[0] ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
ret.pcmCruise = not ret.enableGasInterceptor ret.pcmCruise = not ret.enableGasInterceptor
if candidate == CAR.CRV_5G: if candidate == CAR.CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[0] ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
# Detect Bosch cars with new HUD msgs # Detect Bosch cars with new HUD msgs
if any(0x33DA in f for f in fingerprint.values()): if any(0x33DA in f for f in fingerprint.values()):
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
# Accord ICE 1.5T CVT has different gearbox message # Accord ICE 1.5T CVT has different gearbox message
if candidate == CAR.ACCORD and 0x191 in fingerprint[1]: if candidate == CAR.ACCORD and 0x191 in fingerprint[CAN.pt]:
ret.transmissionType = TransmissionType.cvt ret.transmissionType = TransmissionType.cvt
# Certain Hondas have an extra steering sensor at the bottom of the steering rack, # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
@ -276,7 +278,7 @@ class CarInterface(CarInterfaceBase):
raise ValueError(f"unsupported car {candidate}") raise ValueError(f"unsupported car {candidate}")
# These cars use alternate user brake msg (0x1BE) # These cars use alternate user brake msg (0x1BE)
if 0x1BE in fingerprint[get_pt_bus(candidate)] and candidate in HONDA_BOSCH: if 0x1BE in fingerprint[CAN.pt] and candidate in HONDA_BOSCH:
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE

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