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FrogPilot community - Honda Clarity Port 

Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-06-06 11:45:20 -07:00
parent 5ee129302c
commit dd69921390
8 changed files with 73 additions and 6 deletions
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9
panda/board/safety/safety_honda.h
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@ -82,6 +82,7 @@ const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
const uint16_t HONDA_PARAM_RADARLESS = 8;
const uint16_t HONDA_PARAM_GAS_INTERCEPTOR = 16;
const uint16_t HONDA_PARAM_CLARITY = 32;
enum {
HONDA_BTN_NONE = 0,
@ -97,6 +98,7 @@ bool honda_alt_brake_msg = false;
bool honda_fwd_brake = false;
bool honda_bosch_long = false;
bool honda_bosch_radarless = false;
bool honda_clarity_brake_msg = false;
typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw;
HondaHw honda_hw = HONDA_NIDEC;
@ -238,6 +240,9 @@ static void honda_rx_hook(const CANPacket_t *to_push) {
bool honda_stock_aeb = GET_BIT(to_push, 29U);
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
if (honda_clarity_brake_msg) {
honda_stock_brake = (GET_BYTE(to_push, 6) << 2) + ((GET_BYTE(to_push, 7) >> 6) & 0x3U);
}
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
if (!honda_stock_aeb) {
@ -294,6 +299,9 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
// BRAKE: safety check (nidec)
if ((addr == 0x1FA) && (bus == bus_pt)) {
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
if (honda_clarity_brake_msg) {
honda_brake = (GET_BYTE(to_send, 6) << 2) + ((GET_BYTE(to_send, 7) >> 6) & 0x3U);
}
if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
tx = false;
}
@ -382,6 +390,7 @@ static safety_config honda_nidec_init(uint16_t param) {
honda_bosch_long = false;
honda_bosch_radarless = false;
enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR);
honda_clarity_brake_msg = GET_FLAG(param, HONDA_PARAM_CLARITY);
safety_config ret;

1
panda/python/__init__.py
View File

@ -198,6 +198,7 @@ class Panda:
FLAG_HONDA_NIDEC_ALT = 4
FLAG_HONDA_RADARLESS = 8
FLAG_HONDA_GAS_INTERCEPTOR = 16
FLAG_HONDA_CLARITY = 32
FLAG_HYUNDAI_EV_GAS = 1
FLAG_HYUNDAI_HYBRID_GAS = 2

11
selfdrive/car/honda/carstate.py
View File

@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
messages.append(("BRAKE_MODULE", 50))
if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
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.HONDA_CLARITY:
messages.append(("BRAKE_ERROR", 100)),
elif CP.openpilotLongitudinalControl:
messages.append(("STANDSTILL", 50))
@ -148,6 +150,8 @@ 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.HONDA_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
@ -186,7 +190,7 @@ 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.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
@ -251,7 +255,8 @@ 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.HONDA_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

25
selfdrive/car/honda/fingerprints.py
View File

@ -902,4 +902,29 @@ FW_VERSIONS = {
b'28101-65J-N010\x00\x00',
],
},
CAR.HONDA_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',
],
},
}

10
selfdrive/car/honda/hondacan.py
View File

@ -53,8 +53,6 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
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,
@ -67,6 +65,14 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
"AEB_REQ_2": 0,
"AEB_STATUS": 0,
}
if car_fingerprint == CAR.HONDA_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
return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)

17
selfdrive/car/honda/interface.py
View File

@ -191,6 +191,21 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
elif candidate == CAR.HONDA_CLARITY:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY
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]]
else:
raise ValueError(f"unsupported car {candidate}")
@ -218,7 +233,7 @@ 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.HONDA_CIVIC}) or ret.enableGasInterceptor
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY}) or ret.enableGasInterceptor
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
ret.steerActuatorDelay = 0.1

5
selfdrive/car/honda/values.py
View File

@ -191,6 +191,11 @@ class CAR(Platforms):
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HONDA_CLARITY = HondaNidecPlatformConfig(
[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'),
)
HONDA_CRV = HondaNidecPlatformConfig(
[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

1
selfdrive/car/torque_data/params.toml
View File

@ -14,6 +14,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HONDA_ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
"HONDA_CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
"HONDA_CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
"HONDA_CLARITY" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
"HONDA_CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
"HONDA_CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
"HONDA_CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]