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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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68
selfdrive/car/honda/hondacan.py
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@@ -1,4 +1,5 @@
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import CanBusBase
from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
# CAN bus layout with relay
@@ -8,15 +9,34 @@ from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_
# 3 = F-CAN A - OBDII port
def get_pt_bus(car_fingerprint):
return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0
class CanBus(CanBusBase):
def __init__(self, CP=None, fingerprint=None) -> None:
# use fingerprint if specified
super().__init__(CP if fingerprint is None else None, fingerprint)
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
self._pt, self._radar = self.offset + 1, self.offset
else:
self._pt, self._radar = self.offset, self.offset + 1
@property
def pt(self) -> int:
return self._pt
@property
def radar(self) -> int:
return self._radar
@property
def camera(self) -> int:
return self.offset + 2
def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
if radar_disabled or no_radar:
# when radar is disabled, steering commands are sent directly to powertrain bus
return get_pt_bus(car_fingerprint)
return CAN.pt
# normally steering commands are sent to radar, which forwards them to powertrain bus
return 0
@@ -26,7 +46,7 @@ def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
# TODO: do we loose pressure if we keep pump off for long?
brakelights = apply_brake > 0
brake_rq = apply_brake > 0
@@ -53,13 +73,11 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
values["COMPUTER_BRAKE"] = apply_brake
values["BRAKE_PUMP_REQUEST"] = pump_on
bus = get_pt_bus(car_fingerprint)
return packer.make_can_msg("BRAKE_COMMAND", bus, values)
return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
commands = []
bus = get_pt_bus(car_fingerprint)
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
control_on = 5 if enabled else 0
@@ -96,43 +114,43 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, c
"SET_TO_75": 0x75,
"SET_TO_30": 0x30,
}
commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values))
commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values))
return commands
def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled):
def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled):
values = {
"STEER_TORQUE": apply_steer if lkas_active else 0,
"STEER_TORQUE_REQUEST": lkas_active,
}
bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled)
return packer.make_can_msg("STEERING_CONTROL", bus, values)
def create_bosch_supplemental_1(packer, car_fingerprint):
def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
# non-active params
values = {
"SET_ME_X04": 0x04,
"SET_ME_X80": 0x80,
"SET_ME_X10": 0x10,
}
bus = get_lkas_cmd_bus(car_fingerprint)
bus = get_lkas_cmd_bus(CAN, car_fingerprint)
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
commands = []
bus_pt = get_pt_bus(CP.carFingerprint)
radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
if CP.openpilotLongitudinalControl:
acc_hud_values = {
'CRUISE_SPEED': hud.v_cruise,
'ENABLE_MINI_CAR': 1 if enabled else 0,
'HUD_DISTANCE': hud.personality_profile,
# only moves the lead car without ACC_ON
'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4, # wraps to 0 at 4 bars
'IMPERIAL_UNIT': int(not is_metric),
'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
'SET_ME_X01_2': 1,
@@ -143,6 +161,8 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
acc_hud_values['FCM_OFF'] = 1
acc_hud_values['FCM_OFF_2'] = 1
else:
# Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
acc_hud_values['ACC_ON'] = int(enabled)
acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
acc_hud_values['PCM_GAS'] = hud.pcm_accel
acc_hud_values['SET_ME_X01'] = 1
@@ -150,7 +170,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
acc_hud_values['ICONS'] = acc_hud['ICONS']
commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
lkas_hud_values = {
'SET_ME_X41': 0x41,
@@ -179,19 +199,19 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
'CMBS_OFF': 0x01,
'SET_TO_1': 0x01,
}
commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values))
commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
if CP.carFingerprint == CAR.CIVIC_BOSCH:
commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}))
commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
return commands
def spam_buttons_command(packer, button_val, car_fingerprint):
def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
values = {
'CRUISE_BUTTONS': button_val,
'CRUISE_SETTING': 0,
}
# send buttons to camera on radarless cars
bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
return packer.make_can_msg("SCM_BUTTONS", bus, values)