237 lines
12 KiB
Python
Executable File
237 lines
12 KiB
Python
Executable File
#!/usr/bin/env python3
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import numpy as np
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from opendbc.car import get_safety_config, structs, uds
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.disable_ecu import disable_ecu
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from opendbc.car.honda.hondacan import CanBus
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from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
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HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
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from opendbc.car.honda.carcontroller import CarController
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from opendbc.car.honda.carstate import CarState
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from opendbc.car.honda.radar_interface import RadarInterface
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from opendbc.car.interfaces import CarInterfaceBase
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TransmissionType = structs.CarParams.TransmissionType
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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RadarInterface = RadarInterface
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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if CP.carFingerprint in HONDA_BOSCH:
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return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
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else:
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# NIDECs don't allow acceleration near cruise_speed,
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# so limit limits of pid to prevent windup
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ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
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ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
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return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
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ret.brand = "honda"
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CAN = CanBus(ret, fingerprint)
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if candidate in HONDA_BOSCH:
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cfgs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
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if candidate in HONDA_BOSCH_CANFD and CAN.pt >= 4:
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cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
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ret.safetyConfigs = cfgs
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ret.radarUnavailable = True
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# Disable the radar and let openpilot control longitudinal
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# WARNING: THIS DISABLES AEB!
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# If Bosch radarless, this blocks ACC messages from the camera
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# TODO: get radar disable working on Bosch CANFD
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ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
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ret.openpilotLongitudinalControl = alpha_long
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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else:
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
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ret.openpilotLongitudinalControl = True
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ret.pcmCruise = True
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if candidate == CAR.HONDA_CRV_5G:
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ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
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# Detect Bosch cars with new HUD msgs
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if any(0x33DA in f for f in fingerprint.values()):
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ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
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if 0x184 in fingerprint[CAN.pt]:
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ret.flags |= HondaFlags.HYBRID.value
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if ret.flags & HondaFlags.ALLOW_MANUAL_TRANS and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)):
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# Manual transmission support for allowlisted cars only, to prevent silent fall-through on auto-detection failures
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ret.transmissionType = TransmissionType.manual
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elif 0x191 in fingerprint[CAN.pt] and candidate != CAR.ACURA_RDX:
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# Traditional CVTs, gearshift position in GEARBOX_CVT
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ret.transmissionType = TransmissionType.cvt
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else:
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# Traditional autos, direct-drive EVs and eCVTs, gearshift position in GEARBOX_AUTO
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ret.transmissionType = TransmissionType.automatic
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
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ret.steerActuatorDelay = 0.1
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if candidate in HONDA_BOSCH:
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ret.longitudinalActuatorDelay = 0.5 # s
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if candidate in HONDA_BOSCH_RADARLESS:
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ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
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else:
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# default longitudinal tuning for all hondas
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ret.longitudinalTuning.kiBP = [0., 5., 35.]
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ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
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# Disable control if EPS mod detected
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for fw in car_fw:
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if fw.ecu == "eps" and b"," in fw.fwVersion:
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ret.dashcamOnly = True
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if candidate == CAR.HONDA_CIVIC:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
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elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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if candidate == CAR.HONDA_CIVIC_BOSCH:
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CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 750]
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elif candidate == CAR.HONDA_CIVIC_2022:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]
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elif candidate == CAR.HONDA_ACCORD:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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elif candidate == CAR.ACURA_ILX:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.HONDA_CRV_5G:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.HONDA_CRV_HYBRID:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.HONDA_FIT:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
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elif candidate == CAR.HONDA_FREED:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
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elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
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if candidate == CAR.HONDA_HRV:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
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ret.wheelSpeedFactor = 1.025
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else:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
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elif candidate == CAR.ACURA_RDX:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate == CAR.ACURA_RDX_3G:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
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elif candidate == CAR.HONDA_ODYSSEY:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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elif candidate == CAR.HONDA_PILOT:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
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elif candidate == CAR.HONDA_RIDGELINE:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
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elif candidate in (CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G):
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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elif candidate == CAR.HONDA_E:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
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elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
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# Stock camera sends up to 2560 during LKA operation and up to 3840 during RDM operation
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# Steer motor torque does rise a little above 2560, but not linearly, RDM also applies one-sided brake drag
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#ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 3072], [0, 2560, 3840]]
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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ret.steerActuatorDelay = 0.15
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CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2000]
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if not ret.openpilotLongitudinalControl:
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# When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
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ret.minSteerSpeed = 70. * CV.KPH_TO_MS
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else:
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ret.steerActuatorDelay = 0.15
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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# These cars use alternate user brake msg (0x1BE)
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if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD):
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ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
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if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
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ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value
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if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
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ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value
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if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
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ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_LONG.value
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if candidate in HONDA_BOSCH_RADARLESS:
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ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
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if candidate in HONDA_BOSCH_CANFD:
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ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
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# conflict with PCM acc
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ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
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ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
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ret.steerLimitTimer = 0.8
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ret.radarDelay = 0.1
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return ret
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@staticmethod
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def init(CP, can_recv, can_send, communication_control=None):
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if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
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# 0x80 silences response
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if communication_control is None:
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communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
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uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
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disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=communication_control)
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@staticmethod
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def deinit(CP, can_recv, can_send):
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communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
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uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
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CarInterface.init(CP, can_recv, can_send, communication_control)
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