diff --git a/README.md b/README.md index 83e6c7d30..1b66a2df9 100644 --- a/README.md +++ b/README.md @@ -67,8 +67,8 @@ Supported Cars | 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 2018-21 | All | Stock | 0mph | 3mph | -| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph | +| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph | +| Honda | Accord Hybrid 2018-20 | 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/RELEASES.md b/RELEASES.md index a52ad3760..3434221a7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,8 +8,6 @@ Version 0.8.8 (2021-08-27) * NEOS 18 for comma two: update packages * AGNOS 1.3 for comma three: fix display init at high temperatures * Improved auto-exposure on comma three - * Honda Accord 2021 support thanks to csouers! - * Honda Accord Hybrid 2021 support thanks to csouers! * Hyundai Kona Hybrid 2020 support thanks to haram-KONA! * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn! * Kia Niro Hybrid 2021 support thanks to tetious! diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h index 8566f06a8..0e2acdb46 100644 --- a/panda/board/safety/safety_honda.h +++ b/panda/board/safety/safety_honda.h @@ -7,8 +7,8 @@ // brake rising edge // brake > 0mph const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}}; -const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}, {0x33DA, 2, 5}, {0x33DB, 2, 8}}; // Bosch Giraffe -const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch Harness +const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}}; // Bosch Giraffe +const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}}; // Bosch Harness const CanMsg HONDA_BG_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x1DF, 0, 8}, {0x1EF, 0, 8}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x39F, 0, 8}, {0x18DAB0F1, 0, 8}}; // Bosch Giraffe w/ gas and brakes const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch Harness w/ gas and brakes @@ -274,7 +274,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) { } } - // Bosch supplemental control check + // Bosch supplemental control check if (addr == 0xE5) { if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) { tx = 0; @@ -376,7 +376,7 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) { } if (bus_num == bus_rdr_cam) { int addr = GET_ADDR(to_fwd); - int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB); + int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D); if (!is_lkas_msg) { bus_fwd = bus_rdr_car; } diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 36461bf82..982d3ece9 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -119,7 +119,7 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"): else: checks += [("CRUISE_PARAMS", 50)] - 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): + if CP.carFingerprint in (CAR.ACCORD, 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: signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)] @@ -230,7 +230,7 @@ class CarState(CarStateBase): # ******************* parse out can ******************* # TODO: find wheels moving bit in dbc - 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): + 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): 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: @@ -279,7 +279,7 @@ class CarState(CarStateBase): 250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"]) self.brake_hold = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] - if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, + if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G): self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 main_on = cp.vl["SCM_FEEDBACK"]["MAIN_ON"] diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 290d10028..d30f5b54f 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -1,5 +1,5 @@ from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_EXT, CAR +from selfdrive.car.honda.values import HONDA_BOSCH, CAR from selfdrive.config import Conversions as CV from selfdrive.swaglog import cloudlog @@ -169,18 +169,12 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, lkas_hud_values = { 'SET_ME_X41': 0x41, + 'SET_ME_X48': 0x48, 'STEERING_REQUIRED': hud.steer_required, 'SOLID_LANES': hud.lanes, 'BEEP': 0, } - if car_fingerprint not in HONDA_BOSCH_EXT: - lkas_hud_values['SET_ME_X48'] = 0x48 - - if car_fingerprint in HONDA_BOSCH_EXT and not openpilot_longitudinal_control: - commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx)) - commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx)) - else: - commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx)) + commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx)) if radar_disabled and car_fingerprint in HONDA_BOSCH: radar_hud_values = { diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 6d583a26b..5e08d4810 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -158,7 +158,7 @@ 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.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021): + elif candidate in (CAR.ACCORD, CAR.ACCORDH): 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 fe6f51546..cfc3bfd8d 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -51,8 +51,6 @@ 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" @@ -289,10 +287,12 @@ 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', @@ -300,78 +300,6 @@ 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', @@ -1301,9 +1229,7 @@ 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), @@ -1341,8 +1267,5 @@ SPEED_FACTOR = { } OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV]) -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]) -HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.CRV_5G, CAR.ACURA_RDX_3G]) - -# Bosch models with alternate set of LKAS_HUD messages -HONDA_BOSCH_EXT = set([CAR.ACCORD_2021, CAR.ACCORDH_2021]) +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]) +HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])