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211 lines
7.4 KiB
211 lines
7.4 KiB
from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car import CanBusBase
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from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
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# CAN bus layout with relay
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# 0 = ACC-CAN - radar side
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# 1 = F-CAN B - powertrain
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# 2 = ACC-CAN - camera side
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# 3 = F-CAN A - OBDII port
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class CanBus(CanBusBase):
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def __init__(self, CP=None, fingerprint=None) -> None:
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# use fingerprint if specified
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super().__init__(CP if fingerprint is None else None, fingerprint)
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if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
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self._pt, self._radar = self.offset + 1, self.offset
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else:
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self._pt, self._radar = self.offset, self.offset + 1
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@property
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def pt(self) -> int:
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return self._pt
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@property
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def radar(self) -> int:
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return self._radar
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@property
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def camera(self) -> int:
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return self.offset + 2
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def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
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no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
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if radar_disabled or no_radar:
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# when radar is disabled, steering commands are sent directly to powertrain bus
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return CAN.pt
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# normally steering commands are sent to radar, which forwards them to powertrain bus
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return 0
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def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
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# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
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return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
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def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
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# TODO: do we loose pressure if we keep pump off for long?
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brakelights = apply_brake > 0
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brake_rq = apply_brake > 0
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pcm_fault_cmd = False
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values = {
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"COMPUTER_BRAKE": apply_brake,
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"BRAKE_PUMP_REQUEST": pump_on,
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"CRUISE_OVERRIDE": pcm_override,
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"CRUISE_FAULT_CMD": pcm_fault_cmd,
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"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
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"COMPUTER_BRAKE_REQUEST": brake_rq,
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"SET_ME_1": 1,
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"BRAKE_LIGHTS": brakelights,
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"CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw
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"FCW": fcw << 1, # TODO: Why are there two bits for fcw?
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"AEB_REQ_1": 0,
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"AEB_REQ_2": 0,
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"AEB_STATUS": 0,
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}
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return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
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def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
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commands = []
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min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
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control_on = 5 if enabled else 0
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gas_command = gas if active and accel > min_gas_accel else -30000
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accel_command = accel if active else 0
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braking = 1 if active and accel < min_gas_accel else 0
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standstill = 1 if active and stopping_counter > 0 else 0
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standstill_release = 1 if active and stopping_counter == 0 else 0
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# common ACC_CONTROL values
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acc_control_values = {
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'ACCEL_COMMAND': accel_command,
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'STANDSTILL': standstill,
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}
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if car_fingerprint in HONDA_BOSCH_RADARLESS:
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acc_control_values.update({
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"CONTROL_ON": enabled,
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"IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz)
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})
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else:
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acc_control_values.update({
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# setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
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"CONTROL_ON": control_on,
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"GAS_COMMAND": gas_command, # used for gas
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"BRAKE_LIGHTS": braking,
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"BRAKE_REQUEST": braking,
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"STANDSTILL_RELEASE": standstill_release,
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})
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acc_control_on_values = {
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"SET_TO_3": 0x03,
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"CONTROL_ON": enabled,
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"SET_TO_FF": 0xff,
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"SET_TO_75": 0x75,
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"SET_TO_30": 0x30,
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}
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commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values))
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commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values))
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return commands
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def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled):
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values = {
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"STEER_TORQUE": apply_steer if lkas_active else 0,
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"STEER_TORQUE_REQUEST": lkas_active,
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}
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bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled)
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return packer.make_can_msg("STEERING_CONTROL", bus, values)
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def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
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# non-active params
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values = {
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"SET_ME_X04": 0x04,
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"SET_ME_X80": 0x80,
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"SET_ME_X10": 0x10,
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}
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bus = get_lkas_cmd_bus(CAN, car_fingerprint)
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return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
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def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
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commands = []
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radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
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bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
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if CP.openpilotLongitudinalControl:
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acc_hud_values = {
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'CRUISE_SPEED': hud.v_cruise,
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'ENABLE_MINI_CAR': 1 if enabled else 0,
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# only moves the lead car without ACC_ON
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'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4, # wraps to 0 at 4 bars
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'IMPERIAL_UNIT': int(not is_metric),
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'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
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'SET_ME_X01_2': 1,
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}
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if CP.carFingerprint in HONDA_BOSCH:
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acc_hud_values['ACC_ON'] = int(enabled)
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acc_hud_values['FCM_OFF'] = 1
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acc_hud_values['FCM_OFF_2'] = 1
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else:
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# Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
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acc_hud_values['ACC_ON'] = int(enabled)
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acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
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acc_hud_values['PCM_GAS'] = hud.pcm_accel
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acc_hud_values['SET_ME_X01'] = 1
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acc_hud_values['FCM_OFF'] = acc_hud['FCM_OFF']
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acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
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acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
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acc_hud_values['ICONS'] = acc_hud['ICONS']
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commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
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lkas_hud_values = {
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'SET_ME_X41': 0x41,
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'STEERING_REQUIRED': hud.steer_required,
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'SOLID_LANES': hud.lanes_visible,
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'BEEP': 0,
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}
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if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
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lkas_hud_values['LANE_LINES'] = 3
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lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
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# car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
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lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
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if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
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lkas_hud_values['SET_ME_X48'] = 0x48
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if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
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commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values))
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commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values))
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else:
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commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
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if radar_disabled:
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radar_hud_values = {
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'CMBS_OFF': 0x01,
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'SET_TO_1': 0x01,
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}
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commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
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if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
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commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
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return commands
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def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
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values = {
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'CRUISE_BUTTONS': button_val,
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'CRUISE_SETTING': 0,
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}
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# send buttons to camera on radarless cars
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bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
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return packer.make_can_msg("SCM_BUTTONS", bus, values)
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