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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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344
selfdrive/car/honda/values.py
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@@ -1,12 +1,11 @@
from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Optional, Union
from enum import Enum, IntFlag
from cereal import car
from openpilot.common.conversions import Conversions as CV
from panda.python import uds
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
@@ -49,10 +48,19 @@ class CarControllerParams:
class HondaFlags(IntFlag):
# Detected flags
# Bosch models with alternate set of LKAS_HUD messages
BOSCH_EXT_HUD = 1
BOSCH_ALT_BRAKE = 2
# Static flags
BOSCH = 4
BOSCH_RADARLESS = 8
NIDEC = 16
NIDEC_ALT_PCM_ACCEL = 32
NIDEC_ALT_SCM_MESSAGES = 64
# Car button codes
class CruiseButtons:
@@ -62,6 +70,11 @@ class CruiseButtons:
MAIN = 1
class CruiseSettings:
DISTANCE = 3
LKAS = 1
# See dbc files for info on values
VISUAL_HUD = {
VisualAlert.none: 0,
@@ -75,31 +88,15 @@ VISUAL_HUD = {
}
class CAR(StrEnum):
ACCORD = "HONDA ACCORD 2018"
ACCORDH = "HONDA ACCORD HYBRID 2018"
CIVIC = "HONDA CIVIC 2016"
CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
CIVIC_2022 = "HONDA CIVIC 2022"
ACURA_ILX = "ACURA ILX 2016"
CRV = "HONDA CR-V 2016"
CRV_5G = "HONDA CR-V 2017"
CRV_EU = "HONDA CR-V EU 2016"
CRV_HYBRID = "HONDA CR-V HYBRID 2019"
FIT = "HONDA FIT 2018"
FREED = "HONDA FREED 2020"
HRV = "HONDA HRV 2019"
HRV_3G = "HONDA HR-V 2023"
ODYSSEY = "HONDA ODYSSEY 2018"
ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
ACURA_RDX = "ACURA RDX 2018"
ACURA_RDX_3G = "ACURA RDX 2020"
PILOT = "HONDA PILOT 2017"
RIDGELINE = "HONDA RIDGELINE 2017"
INSIGHT = "HONDA INSIGHT 2019"
HONDA_E = "HONDA E 2020"
CLARITY = "HONDA CLARITY 2018"
@dataclass
class HondaCarDocs(CarDocs):
package: str = "Honda Sensing"
def init_make(self, CP: car.CarParams):
if CP.flags & HondaFlags.BOSCH:
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
else:
self.car_parts = CarParts.common([CarHarness.nidec])
class Footnote(Enum):
@@ -108,56 +105,191 @@ class Footnote(Enum):
Column.FSR_STEERING)
@dataclass
class HondaCarInfo(CarInfo):
package: str = "Honda Sensing"
def init_make(self, CP: car.CarParams):
if CP.carFingerprint in HONDA_BOSCH:
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
else:
self.car_parts = CarParts.common([CarHarness.nidec])
class HondaBoschPlatformConfig(PlatformConfig):
def init(self):
self.flags |= HondaFlags.BOSCH
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.ACCORD: [
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
CAR.CIVIC_BOSCH: [
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: [
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: [
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.CLARITY: HondaCarInfo("Honda Clarity 2018-22"),
}
class HondaNidecPlatformConfig(PlatformConfig):
def init(self):
self.flags |= HondaFlags.NIDEC
class CAR(Platforms):
# Bosch Cars
ACCORD = HondaBoschPlatformConfig(
"HONDA ACCORD 2018",
[
HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
# steerRatio: 11.82 is spec end-to-end
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
dbc_dict('honda_accord_2018_can_generated', None),
)
CIVIC_BOSCH = HondaBoschPlatformConfig(
"HONDA CIVIC (BOSCH) 2019",
[
HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
],
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
)
CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
"HONDA CIVIC SEDAN 1.6 DIESEL 2019",
[], # don't show in docs
CIVIC_BOSCH.specs,
dbc_dict('honda_accord_2018_can_generated', None),
)
CIVIC_2022 = HondaBoschPlatformConfig(
"HONDA CIVIC 2022",
[
HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CIVIC_BOSCH.specs,
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH_RADARLESS,
)
CRV_5G = HondaBoschPlatformConfig(
"HONDA CR-V 2017",
[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
# steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
flags=HondaFlags.BOSCH_ALT_BRAKE,
)
CRV_HYBRID = HondaBoschPlatformConfig(
"HONDA CR-V HYBRID 2019",
[HondaCarDocs("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)],
# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_accord_2018_can_generated', None),
)
HRV_3G = HondaBoschPlatformConfig(
"HONDA HR-V 2023",
[HondaCarDocs("Honda HR-V 2023", "All")],
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
)
ACURA_RDX_3G = HondaBoschPlatformConfig(
"ACURA RDX 2020",
[HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH_ALT_BRAKE,
)
INSIGHT = HondaBoschPlatformConfig(
"HONDA INSIGHT 2019",
[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
dbc_dict('honda_insight_ex_2019_can_generated', None),
)
HONDA_E = HondaBoschPlatformConfig(
"HONDA E 2020",
[HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
dbc_dict('acura_rdx_2020_can_generated', None),
)
CLARITY = HondaBoschPlatformConfig(
"HONDA CLARITY 2018",
[HondaCarDocs("Honda Clarity 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=4052. * CV.LB_TO_KG, wheelbase=2.75, centerToFrontRatio=0.41, steerRatio=16.50, tireStiffnessFactor=1.),
dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
)
# Nidec Cars
ACURA_ILX = HondaNidecPlatformConfig(
"ACURA ILX 2016",
[HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV = HondaNidecPlatformConfig(
"HONDA CR-V 2016",
[HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CRV_EU = HondaNidecPlatformConfig(
"HONDA CR-V EU 2016",
[], # Euro version of CRV Touring, don't show in docs
CRV.specs,
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FIT = HondaNidecPlatformConfig(
"HONDA FIT 2018",
[HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
FREED = HondaNidecPlatformConfig(
"HONDA FREED 2020",
[HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HRV = HondaNidecPlatformConfig(
"HONDA HRV 2019",
[HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
HRV_3G.specs,
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ODYSSEY = HondaNidecPlatformConfig(
"HONDA ODYSSEY 2018",
[HondaCarDocs("Honda Odyssey 2018-20")],
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
)
ODYSSEY_CHN = HondaNidecPlatformConfig(
"HONDA ODYSSEY CHN 2019",
[], # Chinese version of Odyssey, don't show in docs
ODYSSEY.specs,
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ACURA_RDX = HondaNidecPlatformConfig(
"ACURA RDX 2018",
[HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
PILOT = HondaNidecPlatformConfig(
"HONDA PILOT 2017",
[
HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
RIDGELINE = HondaNidecPlatformConfig(
"HONDA RIDGELINE 2017",
[HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
CIVIC = HondaNidecPlatformConfig(
"HONDA CIVIC 2016",
[HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
)
HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xF112)
@@ -193,7 +325,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
[StdQueries.UDS_VERSION_REQUEST],
[StdQueries.UDS_VERSION_RESPONSE],
bus=0,
logging=True,
),
# Bosch PT bus
Request(
@@ -206,12 +337,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
# We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present
non_essential_ecus={
Ecu.programmedFuelInjection: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.transmission: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.vsa: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.programmedFuelInjection: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.transmission: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.srs: [CAR.ACCORD],
Ecu.eps: [CAR.ACCORD],
Ecu.vsa: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.combinationMeter: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.gateway: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.electricBrakeBooster: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.shiftByWire: [CAR.ACCORD], # existence correlates with transmission type for ICE
Ecu.hud: [CAR.ACCORD], # existence correlates with trim level
},
extra_ecus=[
# The only other ECU on PT bus accessible by camera on radarless Civic
@@ -219,43 +354,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
)
DBC = {
CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
CAR.ACCORDH: 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),
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None),
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None),
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
CAR.CLARITY: dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
}
STEER_THRESHOLD = {
# default is 1200, overrides go here
CAR.ACURA_RDX: 400,
CAR.CRV_EU: 400,
}
HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
CAR.PILOT, CAR.RIDGELINE}
HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
DBC = CAR.create_dbc_map()