Honda Clarity Port

Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>

selfdrive/car/honda/carstate.py

@@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
   if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
     messages.append(("BRAKE_MODULE", 50))
 
-  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}):
     messages.append(("EPB_STATUS", 50))
 
   if CP.carFingerprint in HONDA_BOSCH:
@@ -78,6 +78,8 @@ def get_can_messages(CP, gearbox_msg):
 
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     messages.append(("CRUISE_FAULT_STATUS", 50))
+  elif CP.carFingerprint == CAR.CLARITY:
+    messages.append(("BRAKE_ERROR", 100)),
   elif CP.openpilotLongitudinalControl:
     messages.append(("STANDSTILL", 50))
 
@@ -147,6 +149,8 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
+    elif self.CP.carFingerprint == CAR.CLARITY:
+      ret.accFaulted = bool(cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"])
     else:
       # On some cars, these two signals are always 1, this flag is masking a bug in release
       # FIXME: find and set the ACC faulted signals on more platforms
@@ -185,7 +189,7 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     # TODO: set for all cars
-    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
@@ -246,7 +250,8 @@ class CarState(CarStateBase):
       if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
         ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
-      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
+      aeb_sig = "COMPUTER_BRAKE_ALT" if self.CP.carFingerprint == CAR.CLARITY else "COMPUTER_BRAKE"
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"][aeb_sig] > 1e-5)
 
     self.acc_hud = False
     self.lkas_hud = False

selfdrive/car/honda/fingerprints.py

@@ -1384,4 +1384,29 @@ FW_VERSIONS = {
       b'37805-64S-AA10\x00\x00',
     ],
   },
+  CAR.CLARITY: {
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TRW-A910\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TRW-A010\x00\x00',
+      b'57114-TRW-A020\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TRW-A020\x00\x00',
+      b'39990-TRW,A020\x00\x00',  # modified firmware
+      b'39990,TRW,A020\x00\x00',  # extra modified firmware
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TRW-A210\x00\x00',
+      b'77959-TRW-A220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TRW-A010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TRW-A020\x00\x00',
+      b'78109-TRW-A030\x00\x00',
+    ],
+  },
 }

selfdrive/car/honda/hondacan.py

@@ -33,8 +33,6 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   pcm_fault_cmd = False
 
   values = {
-    "COMPUTER_BRAKE": apply_brake,
-    "BRAKE_PUMP_REQUEST": pump_on,
     "CRUISE_OVERRIDE": pcm_override,
     "CRUISE_FAULT_CMD": pcm_fault_cmd,
     "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
@@ -47,6 +45,14 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
+
+  if car_fingerprint == CAR.CLARITY:
+    values["COMPUTER_BRAKE_ALT"] = apply_brake
+    values["BRAKE_PUMP_REQUEST_ALT"] = apply_brake > 0
+  else:
+    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)
 

selfdrive/car/honda/interface.py

@@ -281,6 +281,26 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
+    elif candidate == CAR.CLARITY:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY
+      ret.mass = 4052. * CV.LB_TO_KG
+      ret.wheelbase = 2.75
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.steerRatio = 16.50  # 12.72 is end-to-end spec
+      if eps_modified:
+        for fw in car_fw:
+          if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
+            ret.lateralTuning.pid.kf = 0.00004
+            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x3C00], [0, 2560, 3840]]
+            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1575], [0.05175]]
+          elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion:
+            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x2800], [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 = [[0.8], [0.24]]
+      tire_stiffness_factor = 1.
+
     else:
       raise ValueError(f"unsupported car {candidate}")
 
@@ -304,7 +324,7 @@ class CarInterface(CarInterfaceBase):
     # 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.CIVIC}) or ret.enableGasInterceptor
+    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC, CAR.CLARITY}) or ret.enableGasInterceptor
     ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
 
     ret.steerActuatorDelay = 0.1

selfdrive/car/honda/values.py

@@ -98,6 +98,7 @@ class CAR(StrEnum):
   RIDGELINE = "HONDA RIDGELINE 2017"
   INSIGHT = "HONDA INSIGHT 2019"
   HONDA_E = "HONDA E 2020"
+  CLARITY = "HONDA CLARITY 2018"
 
 
 class Footnote(Enum):
@@ -154,6 +155,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", 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"),
 }
 
 HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -225,6 +227,7 @@ DBC = {
   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 = {

selfdrive/car/torque_data/params.toml

@@ -15,6 +15,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA ACCORD HYBRID 2018" = [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
 "HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
 "HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+"HONDA CLARITY 2018" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
 "HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
 "HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
 "HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]