diff --git a/RELEASES.md b/RELEASES.md index d4d579cfc..481ecceb5 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,7 @@ Version 0.8.12 (2021-12-XX) ======================== + * Honda Accord 2021 support thanks to csouers! + * Honda Accord Hybrid 2021 support thanks to csouers! * Lexus RC 2020 support thanks to ErichMoraga! Version 0.8.11 (2021-11-29) diff --git a/docs/CARS.md b/docs/CARS.md index 1f1d08cc0..d88ee6c65 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -7,8 +7,8 @@ | Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph1 | 25mph | | Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph1 | 12mph | | Acura | RDX 2019-21 | All | Stock | 0mph | 3mph | -| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph | -| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph | +| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph | +| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph | | Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph | | Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph | | Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph2 | diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 8bf3ac58f..b9deaedf1 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -107,7 +107,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): else: checks += [("CRUISE_PARAMS", 50)] - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)] elif CP.carFingerprint == CAR.ODYSSEY_CHN: signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)] @@ -185,7 +185,7 @@ class CarState(CarStateBase): # ******************* parse out can ******************* # TODO: find wheels moving bit in dbc - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1 ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint == CAR.ODYSSEY_CHN: @@ -235,7 +235,7 @@ class CarState(CarStateBase): 250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"]) ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 - if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, + if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 else: diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 802ce980a..5ae167a16 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -110,7 +110,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 1. ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] - elif candidate in (CAR.ACCORD, CAR.ACCORDH): + elif candidate in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021): stop_and_go = True ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 97e0ded66..e1698562d 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -59,6 +59,8 @@ VISUAL_HUD = { class CAR: ACCORD = "HONDA ACCORD 2018" ACCORDH = "HONDA ACCORD HYBRID 2018" + ACCORD_2021 = "HONDA ACCORD 2021" + ACCORDH_2021 = "HONDA ACCORD HYBRID 2021" CIVIC = "HONDA CIVIC 2016" CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" @@ -268,12 +270,10 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TWA-A070\x00\x00', - b'36161-TWA-A330\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TWA-A080\x00\x00', b'36802-TWA-A070\x00\x00', - b'36802-TWA-A330\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ b'39990-TVA-A160\x00\x00', @@ -281,6 +281,78 @@ FW_VERSIONS = { b'39990-TVA-A340\x00\x00', ], }, + CAR.ACCORD_2021: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-6B2-C520\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28102-6B8-A700\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TVA-A320\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TVA-A020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TVA-E520\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TVA-L420\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TVC-A230\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A110\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TVC-A910\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TVC-A330\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TVC-A330\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TVA-A340\x00\x00', + ], + (Ecu.unknown, 0x18da3af1, None): [ + b'39390-TVA-A120\x00\x00', + ], + }, + CAR.ACCORDH_2021: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TWD-J020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TWA-A530\x00\x00', + b'57114-TWA-B520\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TWA-L420\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TWA-A030\x00\x00', + b'78109-TWA-A230\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TWA-A330\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TWA-A330\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TVA-A340\x00\x00', + ], + (Ecu.unknown, 0x18da3af1, None): [ + b'39390-TVA-A120\x00\x00', + ], + }, CAR.CIVIC: { (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-5AA-A640\x00\x00', @@ -1324,7 +1396,9 @@ FW_VERSIONS = { DBC = { CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None), + CAR.ACCORD_2021: dbc_dict('honda_accord_2018_can_generated', None), CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None), + CAR.ACCORDH_2021: dbc_dict('honda_accord_2018_can_generated', None), CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None), @@ -1367,5 +1441,6 @@ SPEED_FACTOR = { HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY]) HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE]) -HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E]) -HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G]) +HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E]) +HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.CRV_5G, CAR.ACURA_RDX_3G]) diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py index a55ad35a1..8c7245234 100755 --- a/selfdrive/test/test_models.py +++ b/selfdrive/test/test_models.py @@ -197,6 +197,12 @@ class TestCarModel(unittest.TestCase): if failed_checks['brakePressed'] < 150: del failed_checks['brakePressed'] + # TODO: use the same signal in panda and carState + # tolerate a small delay between the button press and PCM entering a cruise state + if self.car_model == HONDA.ACCORD_2021: + if failed_checks['controlsAllowed'] < 500: + del failed_checks['controlsAllowed'] + self.assertFalse(len(failed_checks), f"panda safety doesn't agree with CarState: {failed_checks}") if __name__ == "__main__": diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py index 61f0adff7..696fe0de0 100755 --- a/selfdrive/test/test_routes.py +++ b/selfdrive/test/test_routes.py @@ -53,7 +53,9 @@ routes = [ TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN), TestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T TestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T + TestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD_2021), # 2.0T TestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH), + TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH_2021), TestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G), TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY), TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),