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330 lines
14 KiB
330 lines
14 KiB
from dataclasses import dataclass
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from enum import Enum, IntFlag
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from panda.python import uds
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from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict, structs
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from openpilot.selfdrive.car.common.conversions import Conversions as CV
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from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
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Ecu = structs.CarParams.Ecu
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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class CarControllerParams:
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# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
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# perform the closed loop control, and might need some
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# to apply some more braking if we're on a downhill slope.
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# Our controller should still keep the 2 second average above
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# -3.5 m/s^2 as per planner limits
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NIDEC_ACCEL_MIN = -4.0 # m/s^2
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NIDEC_ACCEL_MAX = 1.6 # m/s^2, lower than 2.0 m/s^2 for tuning reasons
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NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
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NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
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NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
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NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
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NIDEC_GAS_MAX = 198 # 0xc6
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NIDEC_BRAKE_MAX = 1024 // 4
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BOSCH_ACCEL_MIN = -3.5 # m/s^2
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BOSCH_ACCEL_MAX = 2.0 # m/s^2
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BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0] # 2m/s^2
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BOSCH_GAS_LOOKUP_V = [0, 1600]
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def __init__(self, CP):
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self.STEER_MAX = CP.lateralParams.torqueBP[-1]
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# mirror of list (assuming first item is zero) for interp of signed request values
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assert(CP.lateralParams.torqueBP[0] == 0)
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assert(CP.lateralParams.torqueBP[0] == 0)
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self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
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self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
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class HondaFlags(IntFlag):
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# Detected flags
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# Bosch models with alternate set of LKAS_HUD messages
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BOSCH_EXT_HUD = 1
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BOSCH_ALT_BRAKE = 2
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# Static flags
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BOSCH = 4
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BOSCH_RADARLESS = 8
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NIDEC = 16
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NIDEC_ALT_PCM_ACCEL = 32
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NIDEC_ALT_SCM_MESSAGES = 64
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# Car button codes
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class CruiseButtons:
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RES_ACCEL = 4
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DECEL_SET = 3
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CANCEL = 2
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MAIN = 1
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class CruiseSettings:
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DISTANCE = 3
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LKAS = 1
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# See dbc files for info on values
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VISUAL_HUD = {
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VisualAlert.none: 0,
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VisualAlert.fcw: 1,
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VisualAlert.steerRequired: 1,
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VisualAlert.ldw: 1,
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VisualAlert.brakePressed: 10,
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VisualAlert.wrongGear: 6,
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VisualAlert.seatbeltUnbuckled: 5,
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VisualAlert.speedTooHigh: 8
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}
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@dataclass
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class HondaCarDocs(CarDocs):
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package: str = "Honda Sensing"
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def init_make(self, CP: structs.CarParams):
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if CP.flags & HondaFlags.BOSCH:
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self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
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else:
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self.car_parts = CarParts.common([CarHarness.nidec])
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class Footnote(Enum):
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CIVIC_DIESEL = CarFootnote(
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"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
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Column.FSR_STEERING)
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class HondaBoschPlatformConfig(PlatformConfig):
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def init(self):
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self.flags |= HondaFlags.BOSCH
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class HondaNidecPlatformConfig(PlatformConfig):
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def init(self):
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self.flags |= HondaFlags.NIDEC
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class CAR(Platforms):
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# Bosch Cars
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HONDA_ACCORD = HondaBoschPlatformConfig(
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[
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HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
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HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
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HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
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],
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# steerRatio: 11.82 is spec end-to-end
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CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
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dbc_dict('honda_accord_2018_can_generated', None),
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)
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HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
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[
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HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
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footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
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HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
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],
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CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
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dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
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)
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HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
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[], # don't show in docs
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HONDA_CIVIC_BOSCH.specs,
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dbc_dict('honda_accord_2018_can_generated', None),
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)
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HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
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[
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HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
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HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
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],
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HONDA_CIVIC_BOSCH.specs,
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dbc_dict('honda_civic_ex_2022_can_generated', None),
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flags=HondaFlags.BOSCH_RADARLESS,
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)
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HONDA_CRV_5G = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
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# steerRatio: 12.3 is spec end-to-end
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CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
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dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
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flags=HondaFlags.BOSCH_ALT_BRAKE,
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)
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HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)],
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# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
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CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
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dbc_dict('honda_accord_2018_can_generated', None),
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)
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HONDA_HRV_3G = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda HR-V 2023", "All")],
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CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
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dbc_dict('honda_civic_ex_2022_can_generated', None),
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flags=HondaFlags.BOSCH_RADARLESS,
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)
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ACURA_RDX_3G = HondaBoschPlatformConfig(
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[HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
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CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
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dbc_dict('acura_rdx_2020_can_generated', None),
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flags=HondaFlags.BOSCH_ALT_BRAKE,
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)
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HONDA_INSIGHT = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
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CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
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dbc_dict('honda_insight_ex_2019_can_generated', None),
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)
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HONDA_E = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
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CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
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dbc_dict('acura_rdx_2020_can_generated', None),
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)
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# Nidec Cars
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ACURA_ILX = HondaNidecPlatformConfig(
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[HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
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CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
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dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_CRV = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
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CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
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dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_CRV_EU = HondaNidecPlatformConfig(
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[], # Euro version of CRV Touring, don't show in docs
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HONDA_CRV.specs,
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dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_FIT = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
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CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
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dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_FREED = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
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CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
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dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_HRV = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
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HONDA_HRV_3G.specs,
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dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_ODYSSEY = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda Odyssey 2018-20")],
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CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
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dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
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)
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HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
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[], # Chinese version of Odyssey, don't show in docs
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HONDA_ODYSSEY.specs,
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dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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ACURA_RDX = HondaNidecPlatformConfig(
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[HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
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CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
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dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_PILOT = HondaNidecPlatformConfig(
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[
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HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
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HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
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],
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CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec
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dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_RIDGELINE = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
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CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
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dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_CIVIC = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
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CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
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dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
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)
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HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(0xF112)
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HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(0xF112)
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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# Currently used to fingerprint
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Request(
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[StdQueries.UDS_VERSION_REQUEST],
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[StdQueries.UDS_VERSION_RESPONSE],
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bus=1,
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),
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# Data collection requests:
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# Log manufacturer-specific identifier for current ECUs
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Request(
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[HONDA_ALT_VERSION_REQUEST],
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[HONDA_ALT_VERSION_RESPONSE],
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bus=1,
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logging=True,
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),
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# Nidec PT bus
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Request(
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[StdQueries.UDS_VERSION_REQUEST],
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[StdQueries.UDS_VERSION_RESPONSE],
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bus=0,
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),
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# Bosch PT bus
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Request(
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[StdQueries.UDS_VERSION_REQUEST],
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[StdQueries.UDS_VERSION_RESPONSE],
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bus=1,
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obd_multiplexing=False,
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),
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],
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# We lose these ECUs without the comma power on these cars.
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# Note that we still attempt to match with them when they are present
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# This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
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non_essential_ecus={
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Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
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Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
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CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
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},
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extra_ecus=[
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(Ecu.combinationMeter, 0x18da60f1, None),
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(Ecu.programmedFuelInjection, 0x18da10f1, None),
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# The only other ECU on PT bus accessible by camera on radarless Civic
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# This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
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# Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
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# TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
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# (Ecu.unknown, 0x18DAB3F1, None),
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],
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)
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STEER_THRESHOLD = {
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# default is 1200, overrides go here
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CAR.ACURA_RDX: 400,
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CAR.HONDA_CRV_EU: 400,
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}
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HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
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HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
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HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
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HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
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DBC = CAR.create_dbc_map()
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