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Honda Clarity Port

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Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent a684059f2e
commit 150422e322
9 changed files with 481 additions and 6 deletions
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11
selfdrive/car/honda/carstate.py
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@@ -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