#!/usr/bin/env python3 import numpy as np from opendbc.car import get_safety_config, structs, uds from opendbc.car.common.conversions import Conversions as CV from opendbc.car.disable_ecu import disable_ecu from opendbc.car.honda.hondacan import CanBus from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \ HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags from opendbc.car.honda.carcontroller import CarController from opendbc.car.honda.carstate import CarState from opendbc.car.honda.radar_interface import RadarInterface from opendbc.car.interfaces import CarInterfaceBase TransmissionType = structs.CarParams.TransmissionType class CarInterface(CarInterfaceBase): CarState = CarState CarController = CarController RadarInterface = RadarInterface @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): if CP.carFingerprint in HONDA_BOSCH: return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX else: # NIDECs don't allow acceleration near cruise_speed, # so limit limits of pid to prevent windup ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2] ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2] return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) @staticmethod def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams: ret.brand = "honda" CAN = CanBus(ret, fingerprint) if candidate in HONDA_BOSCH: cfgs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)] if candidate in HONDA_BOSCH_CANFD and CAN.pt >= 4: cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput)) ret.safetyConfigs = cfgs ret.radarUnavailable = True # Disable the radar and let openpilot control longitudinal # WARNING: THIS DISABLES AEB! # If Bosch radarless, this blocks ACC messages from the camera # TODO: get radar disable working on Bosch CANFD ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD ret.openpilotLongitudinalControl = alpha_long ret.pcmCruise = not ret.openpilotLongitudinalControl else: ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)] ret.openpilotLongitudinalControl = True ret.pcmCruise = True if candidate == CAR.HONDA_CRV_5G: ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar] # Detect Bosch cars with new HUD msgs if any(0x33DA in f for f in fingerprint.values()): ret.flags |= HondaFlags.BOSCH_EXT_HUD.value if 0x184 in fingerprint[CAN.pt]: ret.flags |= HondaFlags.HYBRID.value if ret.flags & HondaFlags.ALLOW_MANUAL_TRANS and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)): # Manual transmission support for allowlisted cars only, to prevent silent fall-through on auto-detection failures ret.transmissionType = TransmissionType.manual elif 0x191 in fingerprint[CAN.pt] and candidate != CAR.ACURA_RDX: # Traditional CVTs, gearshift position in GEARBOX_CVT ret.transmissionType = TransmissionType.cvt else: # Traditional autos, direct-drive EVs and eCVTs, gearshift position in GEARBOX_AUTO ret.transmissionType = TransmissionType.automatic ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward ret.steerActuatorDelay = 0.1 if candidate in HONDA_BOSCH: ret.longitudinalActuatorDelay = 0.5 # s if candidate in HONDA_BOSCH_RADARLESS: ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model else: # default longitudinal tuning for all hondas ret.longitudinalTuning.kiBP = [0., 5., 35.] ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5] # Disable control if EPS mod detected for fw in car_fw: if fw.ecu == "eps" and b"," in fw.fwVersion: ret.dashcamOnly = True if candidate == CAR.HONDA_CIVIC: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] if candidate == CAR.HONDA_CIVIC_BOSCH: CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 750] elif candidate == CAR.HONDA_CIVIC_2022: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]] elif candidate == CAR.HONDA_ACCORD: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.HONDA_CRV_5G: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.HONDA_CRV_HYBRID: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.HONDA_FIT: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.HONDA_FREED: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] if candidate == CAR.HONDA_HRV: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] ret.wheelSpeedFactor = 1.025 else: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACURA_RDX_3G: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] elif candidate == CAR.HONDA_ODYSSEY: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end elif candidate == CAR.HONDA_PILOT: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.HONDA_RIDGELINE: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate in (CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning elif candidate == CAR.HONDA_ODYSSEY_5G_MMR: # Stock camera sends up to 2560 during LKA operation and up to 3840 during RDM operation # Steer motor torque does rise a little above 2560, but not linearly, RDM also applies one-sided brake drag #ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 3072], [0, 2560, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) ret.steerActuatorDelay = 0.15 CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2000] if not ret.openpilotLongitudinalControl: # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept ret.minSteerSpeed = 70. * CV.KPH_TO_MS else: ret.steerActuatorDelay = 0.15 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # These cars use alternate user brake msg (0x1BE) if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD): ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value if ret.flags & HondaFlags.BOSCH_ALT_BRAKE: ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES: ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_LONG.value if candidate in HONDA_BOSCH_RADARLESS: ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value if candidate in HONDA_BOSCH_CANFD: ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value # 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 ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC}) ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS ret.steerLimitTimer = 0.8 ret.radarDelay = 0.1 return ret @staticmethod def init(CP, can_recv, can_send, communication_control=None): if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl: # 0x80 silences response if communication_control is None: communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT]) disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=communication_control) @staticmethod def deinit(CP, can_recv, can_send): communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX, uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT]) CarInterface.init(CP, can_recv, can_send, communication_control)