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This commit is contained in:
Rick Lan
2026-01-12 12:17:27 +08:00
parent 857d58fcf8
commit 84968fe6b6
8 changed files with 62 additions and 6 deletions
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13
opendbc_repo/opendbc/car/honda/carstate.py
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@@ -48,6 +48,8 @@ class CarState(CarStateBase):
# When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
# However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
self.dash_speed_seen = False
self.is_metric = False
self.v_cruise_factor = 1.
def update(self, can_parsers) -> structs.CarState:
cp = can_parsers[Bus.pt]
@@ -68,7 +70,7 @@ class CarState(CarStateBase):
self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
# used for car hud message
self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
self.is_metric = True if self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_TWN) else not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
self.v_cruise_factor = CV.MPH_TO_MS if self.dynamic_v_cruise_units and not self.is_metric else CV.KPH_TO_MS
# ******************* parse out can *******************
@@ -127,10 +129,11 @@ class CarState(CarStateBase):
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
if self.dash_speed_seen:
conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
if self.CP.carFingerprint not in (CAR.HONDA_ODYSSEY_TWN):
self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
if self.dash_speed_seen:
conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]

11
opendbc_repo/opendbc/car/honda/fingerprints.py
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@@ -577,6 +577,17 @@ FW_VERSIONS = {
b'54008-THR-A020\x00\x00',
],
},
CAR.HONDA_ODYSSEY_TWN: {
(Ecu.eps, 0x18da30f1, None): [
b'39990-T6A-J210\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-T6A-P110\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T6A-P040\x00\x00',
],
},
CAR.HONDA_ODYSSEY_5G_MMR: {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-THR-A240\x00\x00',

6
opendbc_repo/opendbc/car/honda/interface.py
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@@ -163,6 +163,10 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.HONDA_ODYSSEY_TWN:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
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:
@@ -235,7 +239,7 @@ class CarInterface(CarInterfaceBase):
# 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 25.51 * CV.MPH_TO_MS
ret.minEnableSpeed = -1. #if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
ret.steerLimitTimer = 0.8
ret.radarDelay = 0.1

6
opendbc_repo/opendbc/car/honda/values.py
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@@ -324,6 +324,12 @@ class CAR(Platforms):
radar_dbc_dict('honda_odyssey_exl_2018_generated'),
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL | HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_ODYSSEY_TWN = HondaNidecPlatformConfig(
[],
CarSpecs(mass=1865, wheelbase=2.9, steerRatio=14.35, centerToFrontRatio=0.44, tireStiffnessFactor=0.82),
radar_dbc_dict('honda_odyssey_twn_2018_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ACURA_RDX = HondaNidecPlatformConfig(
[HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus or Advance Package", 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

1
opendbc_repo/opendbc/car/torque_data/substitute.toml
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@@ -51,6 +51,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HONDA_CRV_EU" = "HONDA_CRV"
"HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
"HONDA_E" = "HONDA_CIVIC_BOSCH"
"HONDA_ODYSSEY_TWN" = "HONDA_ODYSSEY"
"BUICK_LACROSSE" = "CHEVROLET_VOLT"
"BUICK_REGAL" = "CHEVROLET_VOLT"

17
opendbc_repo/opendbc/dbc/generator/honda/_steering_control_c.dbc Normal file
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@@ -0,0 +1,17 @@
BO_ 404 STEERING_CONTROL: 4 EON
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
BO_ 399 STEER_STATUS: 7 EPS
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
VAL_ 399 STEER_STATUS 7 "permanent_fault" 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 1 "driver_steering" 0 "normal" ;

7
opendbc_repo/opendbc/dbc/generator/honda/_steering_sensors_c.dbc Normal file
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@@ -0,0 +1,7 @@
CM_ "steer_angle_rate is negative vs _steering_sensors_b.dbc";
BO_ 342 STEERING_SENSORS: 6 EPS
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON

7
opendbc_repo/opendbc/dbc/generator/honda/honda_odyssey_twn_2018.dbc Normal file
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@@ -0,0 +1,7 @@
CM_ "IMPORT _honda_common.dbc";
CM_ "IMPORT _nidec_common.dbc";
CM_ "IMPORT _lkas_hud_5byte.dbc";
CM_ "IMPORT _nidec_scm_group_a.dbc";
CM_ "IMPORT _steering_sensors_c.dbc";
CM_ "IMPORT _steering_control_c.dbc";
CM_ "IMPORT _gearbox_common.dbc";