#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import interp
from openpilot.selfdrive.car.honda.hondacan import CanBus
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
[docs]
class CarInterface(CarInterfaceBase):
[docs]
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
if CP.carFingerprint in HONDA_BOSCH:
return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
else:
# NIDECs don't allow acceleration near cruise_speed,
# so limit limits of pid to prevent windup
ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "honda"
CAN = CanBus(ret, fingerprint)
if candidate in HONDA_BOSCH:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
ret.radarUnavailable = True
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
# If Bosch radarless, this blocks ACC messages from the camera
ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = experimental_long
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.openpilotLongitudinalControl = True
ret.pcmCruise = True
if candidate == CAR.HONDA_CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
# Detect Bosch cars with new HUD msgs
if any(0x33DA in f for f in fingerprint.values()):
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
# Accord ICE 1.5T CVT has different gearbox message
if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
ret.transmissionType = TransmissionType.cvt
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
if candidate in HONDA_BOSCH:
ret.longitudinalTuning.kpV = [0.25]
ret.longitudinalTuning.kiV = [0.05]
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
if candidate in HONDA_BOSCH_RADARLESS:
ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
else:
# default longitudinal tuning for all hondas
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if candidate == CAR.HONDA_CIVIC:
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.HONDA_ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_5G:
if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_HYBRID:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_FIT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.HONDA_FREED:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
if candidate == CAR.HONDA_HRV:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.ACURA_RDX:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
if candidate == CAR.HONDA_ODYSSEY_CHN:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.HONDA_PILOT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.HONDA_RIDGELINE:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.HONDA_INSIGHT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
else:
raise ValueError(f"unsupported car {candidate}")
# These cars use alternate user brake msg (0x1BE)
# TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G):
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
if candidate in HONDA_BOSCH_RADARLESS:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
return ret
[docs]
@staticmethod
def init(CP, logcan, sendcan):
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
# events
events = self.create_common_events(ret, pcm_enable=False)
if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if self.CP.pcmCruise:
# we engage when pcm is active (rising edge)
if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if ret.vEgo < self.CP.minEnableSpeed + 2.:
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
events.add(EventName.speedTooLow)
else:
events.add(EventName.cruiseDisabled)
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
events.add(EventName.manualRestart)
ret.events = events.to_msg()
return ret