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215 lines
11 KiB
215 lines
11 KiB
#!/usr/bin/env python3
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from panda import Panda
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from openpilot.selfdrive.car import get_safety_config, structs
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from openpilot.selfdrive.car.common.conversions import Conversions as CV
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from openpilot.selfdrive.car.common.numpy_fast import interp
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from openpilot.selfdrive.car.honda.hondacan import CanBus
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from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
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HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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TransmissionType = structs.CarParams.TransmissionType
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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if CP.carFingerprint in HONDA_BOSCH:
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return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
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else:
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# NIDECs don't allow acceleration near cruise_speed,
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# so limit limits of pid to prevent windup
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ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
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ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
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return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
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ret.carName = "honda"
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CAN = CanBus(ret, fingerprint)
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if candidate in HONDA_BOSCH:
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
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ret.radarUnavailable = True
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# Disable the radar and let openpilot control longitudinal
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# WARNING: THIS DISABLES AEB!
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# If Bosch radarless, this blocks ACC messages from the camera
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ret.experimentalLongitudinalAvailable = True
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ret.openpilotLongitudinalControl = experimental_long
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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else:
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
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ret.openpilotLongitudinalControl = True
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ret.pcmCruise = True
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if candidate == CAR.HONDA_CRV_5G:
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ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
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# Detect Bosch cars with new HUD msgs
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if any(0x33DA in f for f in fingerprint.values()):
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ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
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# Accord ICE 1.5T CVT has different gearbox message
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if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
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ret.transmissionType = TransmissionType.cvt
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# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
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# which improves controls quality as it removes the steering column torsion from feedback.
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# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
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# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
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if candidate in HONDA_BOSCH:
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ret.longitudinalActuatorDelay = 0.5 # s
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if candidate in HONDA_BOSCH_RADARLESS:
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ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
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else:
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# default longitudinal tuning for all hondas
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ret.longitudinalTuning.kiBP = [0., 5., 35.]
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ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
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eps_modified = False
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for fw in car_fw:
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if fw.ecu == "eps" and b"," in fw.fwVersion:
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eps_modified = True
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if candidate == CAR.HONDA_CIVIC:
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if eps_modified:
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# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
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# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
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# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
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# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
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# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
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# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
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else:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
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elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate == CAR.HONDA_ACCORD:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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if eps_modified:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
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else:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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elif candidate == CAR.ACURA_ILX:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.HONDA_CRV_5G:
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if eps_modified:
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# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
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# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
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# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
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else:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.HONDA_CRV_HYBRID:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.HONDA_FIT:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
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elif candidate == CAR.HONDA_FREED:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
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elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
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if candidate == CAR.HONDA_HRV:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
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ret.wheelSpeedFactor = 1.025
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else:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
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elif candidate == CAR.ACURA_RDX:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate == CAR.ACURA_RDX_3G:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
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elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
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if candidate == CAR.HONDA_ODYSSEY_CHN:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
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else:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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elif candidate == CAR.HONDA_PILOT:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
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elif candidate == CAR.HONDA_RIDGELINE:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
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elif candidate == CAR.HONDA_INSIGHT:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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elif candidate == CAR.HONDA_E:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
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else:
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raise ValueError(f"unsupported car {candidate}")
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# These cars use alternate user brake msg (0x1BE)
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# TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
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if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G):
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ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
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if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
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# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
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if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
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if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
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if candidate in HONDA_BOSCH_RADARLESS:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
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# conflict with PCM acc
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ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
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ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.8
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return ret
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@staticmethod
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def init(CP, can_recv, can_send):
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if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
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disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
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