Car Port: 2021 Accord 2.0 Touring & Hybrid Touring (#22007)
* Add 2021 Accord 2.0 Touring & Hybrid Touring - Create the HONDA_BOSCH_EXT set for HONDA_BOSCH cars that utilize the new extended IDs for LKAS_HUD * Remove ids added to the wrong car * add comment * fix undefined signal * fix tests Co-authored-by: Chris Souers <csouers@gmail.com>pull/22016/head
Adeeb Shihadeh
GitHub
parent
9e03aa0b92
commit
7e53a42984
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@ -67,8 +67,8 @@ Supported Cars
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| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
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| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
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| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
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| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
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| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
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| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph |
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| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph |
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| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
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| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
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@ -119,7 +119,7 @@ def get_can_signals(CP, gearbox_msg="GEARBOX"):
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else:
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checks += [("CRUISE_PARAMS", 50)]
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
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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):
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signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
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elif CP.carFingerprint == CAR.ODYSSEY_CHN:
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signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
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@ -230,7 +230,7 @@ class CarState(CarStateBase):
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# ******************* parse out can *******************
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# TODO: find wheels moving bit in dbc
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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):
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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):
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ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
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ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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@ -279,7 +279,7 @@ class CarState(CarStateBase):
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250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
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self.brake_hold = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"]
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
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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,
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CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
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self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
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main_on = cp.vl["SCM_FEEDBACK"]["MAIN_ON"]
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@ -1,5 +1,5 @@
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from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
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from selfdrive.car.honda.values import HONDA_BOSCH, CAR
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from selfdrive.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_EXT, CAR
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from selfdrive.config import Conversions as CV
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from selfdrive.swaglog import cloudlog
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@ -169,12 +169,18 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
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lkas_hud_values = {
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'SET_ME_X41': 0x41,
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'SET_ME_X48': 0x48,
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'STEERING_REQUIRED': hud.steer_required,
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'SOLID_LANES': hud.lanes,
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'BEEP': 0,
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}
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commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
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if car_fingerprint not in HONDA_BOSCH_EXT:
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lkas_hud_values['SET_ME_X48'] = 0x48
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if car_fingerprint in HONDA_BOSCH_EXT and not openpilot_longitudinal_control:
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commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx))
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commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx))
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else:
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commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
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if radar_disabled and car_fingerprint in HONDA_BOSCH:
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radar_hud_values = {
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@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase):
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tire_stiffness_factor = 1.
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate in (CAR.ACCORD, CAR.ACCORDH):
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elif candidate in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021):
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stop_and_go = True
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ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.83
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@ -51,6 +51,8 @@ VISUAL_HUD = {
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class CAR:
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ACCORD = "HONDA ACCORD 2018"
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ACCORDH = "HONDA ACCORD HYBRID 2018"
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ACCORD_2021 = "HONDA ACCORD 2021"
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ACCORDH_2021 = "HONDA ACCORD HYBRID 2021"
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CIVIC = "HONDA CIVIC 2016"
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CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
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CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
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@ -287,12 +289,10 @@ FW_VERSIONS = {
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],
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(Ecu.fwdCamera, 0x18dab5f1, None): [
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b'36161-TWA-A070\x00\x00',
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b'36161-TWA-A330\x00\x00',
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],
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(Ecu.fwdRadar, 0x18dab0f1, None): [
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b'36802-TWA-A080\x00\x00',
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b'36802-TWA-A070\x00\x00',
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b'36802-TWA-A330\x00\x00',
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],
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(Ecu.eps, 0x18da30f1, None): [
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b'39990-TVA-A160\x00\x00',
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@ -300,6 +300,78 @@ FW_VERSIONS = {
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b'39990-TVA-A340\x00\x00',
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],
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},
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CAR.ACCORD_2021: {
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(Ecu.programmedFuelInjection, 0x18da10f1, None): [
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b'37805-6B2-C520\x00\x00',
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],
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(Ecu.transmission, 0x18da1ef1, None): [
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b'28102-6B8-A700\x00\x00',
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],
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(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
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b'46114-TVA-A320\x00\x00',
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],
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(Ecu.gateway, 0x18daeff1, None): [
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b'38897-TVA-A020\x00\x00',
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],
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(Ecu.vsa, 0x18da28f1, None): [
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b'57114-TVA-E520\x00\x00',
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],
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(Ecu.srs, 0x18da53f1, None): [
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b'77959-TVA-L420\x00\x00',
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],
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(Ecu.combinationMeter, 0x18da60f1, None): [
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b'78109-TVC-A230\x00\x00',
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],
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(Ecu.hud, 0x18da61f1, None): [
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b'78209-TVA-A110\x00\x00',
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],
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(Ecu.shiftByWire, 0x18da0bf1, None): [
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b'54008-TVC-A910\x00\x00',
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],
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(Ecu.fwdCamera, 0x18dab5f1, None): [
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b'36161-TVC-A330\x00\x00',
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],
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(Ecu.fwdRadar, 0x18dab0f1, None): [
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b'36802-TVC-A330\x00\x00',
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],
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(Ecu.eps, 0x18da30f1, None): [
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b'39990-TVA-A340\x00\x00',
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],
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(Ecu.unknown, 0x18da3af1, None): [
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b'39390-TVA-A120\x00\x00',
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],
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},
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CAR.ACCORDH_2021: {
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(Ecu.gateway, 0x18daeff1, None): [
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b'38897-TWD-J020\x00\x00',
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],
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(Ecu.vsa, 0x18da28f1, None): [
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b'57114-TWA-A530\x00\x00',
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b'57114-TWA-B520\x00\x00',
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],
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(Ecu.srs, 0x18da53f1, None): [
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b'77959-TWA-L420\x00\x00',
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],
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(Ecu.combinationMeter, 0x18da60f1, None): [
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b'78109-TWA-A030\x00\x00',
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b'78109-TWA-A230\x00\x00',
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],
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(Ecu.shiftByWire, 0x18da0bf1, None): [
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b'54008-TWA-A910\x00\x00',
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],
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(Ecu.fwdCamera, 0x18dab5f1, None): [
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b'36161-TWA-A330\x00\x00',
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],
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(Ecu.fwdRadar, 0x18dab0f1, None): [
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b'36802-TWA-A330\x00\x00',
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],
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(Ecu.eps, 0x18da30f1, None): [
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b'39990-TVA-A340\x00\x00',
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],
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(Ecu.unknown, 0x18da3af1, None): [
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b'39390-TVA-A120\x00\x00',
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],
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},
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CAR.CIVIC: {
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(Ecu.programmedFuelInjection, 0x18da10f1, None): [
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b'37805-5AA-A640\x00\x00',
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@ -1229,7 +1301,9 @@ FW_VERSIONS = {
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DBC = {
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CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
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CAR.ACCORD_2021: dbc_dict('honda_accord_2018_can_generated', None),
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CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
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CAR.ACCORDH_2021: dbc_dict('honda_accord_2018_can_generated', None),
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CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
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CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
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CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
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@ -1267,5 +1341,8 @@ SPEED_FACTOR = {
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}
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OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV])
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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])
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HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])
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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])
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HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.CRV_5G, CAR.ACURA_RDX_3G])
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# Bosch models with alternate set of LKAS_HUD messages
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HONDA_BOSCH_EXT = set([CAR.ACCORD_2021, CAR.ACCORDH_2021])
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@ -182,6 +182,12 @@ class TestCarModel(unittest.TestCase):
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if failed_checks['brakePressed'] < 150:
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del failed_checks['brakePressed']
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# TODO: use the same signal in panda and carState
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# tolerate a small delay between the button press and PCM entering a cruise state
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if self.car_model == HONDA.ACCORD_2021:
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if failed_checks['controlsAllowed'] < 500:
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del failed_checks['controlsAllowed']
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self.assertFalse(len(failed_checks), f"panda safety doesn't agree with CarState: {failed_checks}")
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if __name__ == "__main__":
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@ -52,7 +52,9 @@ routes = [
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TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),
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TestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T
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TestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T
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TestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD_2021), # 2.0T
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TestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH),
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TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH_2021),
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TestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
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TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
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TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
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