Car Port: Honda Freed 2020 (#22003)

* car port: Honda Freed

Popular 3-row compact minivan in Japan based on Fit platform.

test route: 2c4292a5cd10536c|2021-08-19--21-32-15

* missing DRIVERS_DOOR_OPEN signal on FREED

* remove redundant long parameters

* additional FW; confirm lack of stop-and-go

* restore gateway ECU to fingerprint

* corrected mass and wheelbase

* add another forwardRadar id

docs/CARS.md

@@ -18,6 +18,7 @@ Supported Cars
 | 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     | Freed 2020                    | 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              |
 | Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |

selfdrive/car/honda/carstate.py

@@ -109,7 +109,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
-  elif CP.carFingerprint == CAR.HRV:
+  elif CP.carFingerprint in (CAR.FREED, CAR.HRV):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1),
                 ("WHEELS_MOVING", "STANDSTILL", 1)]
   else:
@@ -159,7 +159,7 @@ class CarState(CarStateBase):
       self.gearbox_msg = "GEARBOX_15T"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
-    if CP.carFingerprint in (CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.HRV,
+    if CP.carFingerprint in (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.RIDGELINE):
       self.main_on_sig_msg = "SCM_BUTTONS"
 
@@ -190,7 +190,7 @@ class CarState(CarStateBase):
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
       ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
-    elif self.CP.carFingerprint == CAR.HRV:
+    elif self.CP.carFingerprint in (CAR.FREED, CAR.HRV):
       ret.standstill = not cp.vl["STANDSTILL"]["WHEELS_MOVING"]
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
     else:

selfdrive/car/honda/interface.py

@@ -177,6 +177,17 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
+    elif candidate == CAR.FREED:
+      stop_and_go = False
+      ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.74
+      # the remaining parameters were copied from FIT
+      ret.centerToFront = ret.wheelbase * 0.39
+      ret.steerRatio = 13.06
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
+      tire_stiffness_factor = 0.75
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
+
     elif candidate == CAR.HRV:
       stop_and_go = False
       ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG

selfdrive/car/honda/values.py

@@ -66,6 +66,7 @@ class CAR:
   CRV_EU = "HONDA CR-V EU 2016"
   CRV_HYBRID = "HONDA CR-V HYBRID 2019"
   FIT = "HONDA FIT 2018"
+  FREED = "HONDA FREED 2020"
   HRV = "HONDA HRV 2019"
   ODYSSEY = "HONDA ODYSSEY 2018"
   ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
@@ -838,6 +839,29 @@ FW_VERSIONS = {
       b'77959-T5R-A230\x00\x00',
     ],
   },
+  CAR.FREED: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TDK-J010\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TDK-J050\x00\x00',
+      b'39990-TDK-N020\x00\x00',
+    ],
+    # TODO: vsa is "essential" for fpv2 but doesn't appear on some models
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TDK-J120\x00\x00',
+      b'57114-TDK-J330\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TDK-J310\x00\x00',
+      b'78109-TDK-J320\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TDK-J070\x00\x00',
+      b'36161-TDK-J080\x00\x00',
+      b'36161-TDK-J530\x00\x00',
+    ],
+  },
   CAR.ODYSSEY: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-THR-A010\x00\x00',
@@ -1275,6 +1299,7 @@ DBC = {
   CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
   CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),

selfdrive/test/test_routes.py

@@ -47,6 +47,7 @@ routes = [
   TestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
   TestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID),
   TestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
+  TestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
   TestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
   TestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
   TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),