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Honda: Support for Traffic Jam Assist steering control bit (#2818)

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* Honda: TJA control bit support

* revert that

* don't really need this
This commit is contained in:
Jason Young
2025-09-29 09:44:28 -07:00
committed by GitHub
parent a32de7745e
commit b81f79151c
3 changed files with 7 additions and 3 deletions
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5
opendbc/car/honda/carcontroller.py
View File

@@ -4,7 +4,7 @@ from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
from opendbc.car.honda import hondacan
from opendbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from opendbc.car.interfaces import CarControllerBase
VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -94,6 +94,7 @@ class CarController(CarControllerBase):
self.packer = CANPacker(dbc_names[Bus.pt])
self.params = CarControllerParams(CP)
self.CAN = hondacan.CanBus(CP)
self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
self.braking = False
self.brake_steady = 0.
@@ -151,7 +152,7 @@ class CarController(CarControllerBase):
can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
# Send steering command.
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive))
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))
# wind brake from air resistance decel at high speed
wind_brake = np.interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])

3
opendbc/car/honda/hondacan.py
View File

@@ -114,10 +114,11 @@ def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_count
return commands
def create_steering_control(packer, CAN, apply_torque, lkas_active):
def create_steering_control(packer, CAN, apply_torque, lkas_active, tja_control):
values = {
"STEER_TORQUE": apply_torque if lkas_active else 0,
"STEER_TORQUE_REQUEST": lkas_active,
"STEER_DOWN_TO_ZERO": lkas_active and tja_control,
}
return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)

2
opendbc/car/honda/values.py
View File

@@ -78,6 +78,7 @@ class HondaFlags(IntFlag):
BOSCH_ALT_RADAR = 512
ALLOW_MANUAL_TRANS = 1024
HYBRID = 2048
BOSCH_TJA_CONTROL = 4096
# Car button codes
@@ -360,6 +361,7 @@ HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
DBC = CAR.create_dbc_map()