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Cleanup HONDA_BOSCH alternate brake signal (#20901) 

* Cleanup HONDA_BOSCH alternate brake signal

* always set self.brake_switch

* define in one place

* also defined here

* nesting

* remove CRV Hybrid

* rename brake_switch_ts

* add note about panda safety
albatross
Willem Melching 2021-05-18 14:13:22 +02:00 committed by GitHub
parent e8641f6430
commit 245312370f
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 22 additions and 25 deletions
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36
selfdrive/car/honda/carstate.py
View File

@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
def calc_cruise_offset(offset, speed):
# euristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
@ -81,12 +81,11 @@ def get_can_signals(CP):
("GEARBOX", 100),
]
if CP.carFingerprint in HONDA_BOSCH:
# Civic is only bosch to use the same brake message as other hondas.
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
if CP.carFingerprint in HONDA_BOSCH:
signals += [
("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
@ -118,6 +117,7 @@ def get_can_signals(CP):
checks += [("CRUISE_PARAMS", 10)]
else:
checks += [("CRUISE_PARAMS", 50)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
@ -201,7 +201,7 @@ class CarState(CarStateBase):
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.brake_switch_prev_ts = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.cruise_mode = 0
@ -302,33 +302,29 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]['MOTOR_TORQUE']
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.CP.carFingerprint]
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != 0
if self.CP.carFingerprint in HONDA_BOSCH:
self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
ret.cruiseState.standstill = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
ret.cruiseState.speedOffset = calc_cruise_offset(0, ret.vEgo)
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID, CAR.INSIGHT):
ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or
(self.brake_switch and self.brake_switch_prev and
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts))
self.brake_switch_prev = self.brake_switch
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
else:
ret.brakePressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED'] != 0
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]['CRUISE_SPEED'] > 160.0 else cp.vl["ACC_HUD"]['CRUISE_SPEED'] * CV.KPH_TO_MS
self.v_cruise_pcm_prev = ret.cruiseState.speed
else:
ret.cruiseState.speedOffset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], ret.vEgo)
ret.cruiseState.speed = cp.vl["CRUISE"]['CRUISE_SPEED_PCM'] * CV.KPH_TO_MS
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != 0
if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.brakePressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED'] != 0
else:
# brake switch has shown some single time step noise, so only considered when
# switch is on for at least 2 consecutive CAN samples
# panda safety only checks BRAKE_PRESSED signal
ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or
(self.brake_switch and self.brake_switch_prev and
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts))
(self.brake_switch and self.brake_switch_prev and cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_prev_ts))
self.brake_switch_prev = self.brake_switch
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
self.brake_switch_prev_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
ret.brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS'] != 0

10
selfdrive/car/honda/interface.py
View File

@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.events import ET
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.controls.lib.longitudinal_planner import _A_CRUISE_MAX_V_FOLLOWING
from selfdrive.car.interfaces import CarInterfaceBase
@ -198,8 +198,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
@ -246,7 +244,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
@ -324,7 +321,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ACURA_RDX_3G:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
@ -410,6 +406,10 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError("unsupported car %s" % candidate)
# These cars use alternate user brake msg (0x1BE)
if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.safetyParam = 1
# 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

1
selfdrive/car/honda/values.py
View File

@ -1367,3 +1367,4 @@ SPEED_FACTOR = {
}
HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_15, CAR.CRV_5G, CAR.ACURA_RDX_3G])