diff --git a/README.md b/README.md
index 1b66a2df9..83e6c7d30 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 2018-20 | 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 982d3ece9..36461bf82 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.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
+ 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):
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.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
+ 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):
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.ACCORDH, CAR.CIVIC_BOSCH,
+ 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,
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 d30f5b54f..290d10028 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, CAR
+from selfdrive.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_EXT, CAR
from selfdrive.config import Conversions as CV
from selfdrive.swaglog import cloudlog
@@ -169,12 +169,18 @@ 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,
}
- commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
+ 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))
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 5e08d4810..6d583a26b 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.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 cfc3bfd8d..fe6f51546 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -51,6 +51,8 @@ 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"
@@ -287,12 +289,10 @@ 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',
@@ -300,6 +300,78 @@ 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',
@@ -1229,7 +1301,9 @@ 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),
@@ -1267,5 +1341,8 @@ SPEED_FACTOR = {
}
OLD_NIDEC_LONG_CONTROL = set([CAR.ODYSSEY, CAR.ACURA_RDX, CAR.CRV, CAR.HRV])
-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])
+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])
diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py
index 7967d79b0..0c4a94a2e 100755
--- a/selfdrive/test/test_models.py
+++ b/selfdrive/test/test_models.py
@@ -182,6 +182,12 @@ 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 fd58145ac..8c8b0266a 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -52,7 +52,9 @@ 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),