IQ.Pilot Prebuilt Release @ 7a91404
This commit is contained in:
IQ.Lvbs CI [bot]
468
artifacts/package_runtime/iqdbc/car/honda/values.py
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468
artifacts/package_runtime/iqdbc/car/honda/values.py
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from dataclasses import dataclass, field
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from enum import Enum, IntFlag
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from iqdbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
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from iqdbc.car.common.conversions import Conversions as CV
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from iqdbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, SupportType
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from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
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Ecu = structs.CarParams.Ecu
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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GearShifter = structs.CarState.GearShifter
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class CarControllerParams:
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# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
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# perform the closed loop control, and might need some
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# to apply some more braking if we're on a downhill slope.
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# Our controller should still keep the 2 second average above
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# -3.5 m/s^2 as per planner limits
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NIDEC_ACCEL_MIN = -4.0 # m/s^2
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NIDEC_ACCEL_MAX = 1.6 # m/s^2, lower than 2.0 m/s^2 for tuning reasons
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NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
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NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
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NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
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NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
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NIDEC_GAS_MAX = 198 # 0xc6
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NIDEC_BRAKE_MAX = 1024 // 4
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BOSCH_ACCEL_MIN = -3.5 # m/s^2
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BOSCH_ACCEL_MAX = 2.0 # m/s^2
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BOSCH_GAS_LOOKUP_BP = [0.0, 2.0] # 2m/s^2
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BOSCH_GAS_LOOKUP_V = [0, 1600]
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STEER_STEP = 1 # 100 Hz
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STEER_DELTA_UP = 3 # min/max in 0.33s for all Honda
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STEER_DELTA_DOWN = 3
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STEER_GLOBAL_MIN_SPEED = 3 * CV.MPH_TO_MS
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def __init__(self, CP):
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self.STEER_MAX = CP.lateralParams.torqueBP[-1]
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# mirror of list (assuming first item is zero) for interp of signed request
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# values and verify that both arrays begin at zero
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assert CP.lateralParams.torqueBP[0] == 0
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assert CP.lateralParams.torqueV[0] == 0
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self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
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self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
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class HondaSafetyFlags(IntFlag):
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ALT_BRAKE = 1
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BOSCH_LONG = 2
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NIDEC_ALT = 4
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RADARLESS = 8
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BOSCH_CANFD = 16
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class HondaFlags(IntFlag):
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# Detected flags
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# Bosch models with alternate set of LKAS_HUD messages
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BOSCH_EXT_HUD = 1
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BOSCH_ALT_BRAKE = 2
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# Static flags
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BOSCH = 4
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BOSCH_RADARLESS = 8
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NIDEC = 16
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NIDEC_ALT_PCM_ACCEL = 32
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NIDEC_ALT_SCM_MESSAGES = 64
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BOSCH_CANFD = 128
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HAS_ALL_DOOR_STATES = 256 # Some Hondas have all door states, others only driver door
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BOSCH_ALT_RADAR = 512
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ALLOW_MANUAL_TRANS = 1024
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HYBRID = 2048
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BOSCH_TJA_CONTROL = 4096
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# Car button codes
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class CruiseButtons:
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RES_ACCEL = 4
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DECEL_SET = 3
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CANCEL = 2
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MAIN = 1
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class CruiseSettings:
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DISTANCE = 3
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LKAS = 1
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@dataclass
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class HondaCarDocs(CarDocs):
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package: str = "Honda Sensing"
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def init_make(self, CP: structs.CarParams):
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if CP.flags & HondaFlags.BOSCH:
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if CP.flags & HondaFlags.BOSCH_CANFD:
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harness = CarHarness.bosch_c
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elif CP.flags & HondaFlags.BOSCH_RADARLESS:
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harness = CarHarness.bosch_b
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else:
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harness = CarHarness.bosch_a
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else:
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harness = CarHarness.nidec
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self.car_parts = CarParts.common([harness])
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if CP.carFingerprint in (CAR.HONDA_CLARITY,):
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self.car_parts = CarParts.common([CarHarness.honda_clarity])
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self.car_parts.custom_parts_url = "https://shop.retropilot.org/product/honda-clarity-proxy-board-kit"
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self.support_type: SupportType = SupportType.COMMUNITY
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self.support_link: str = "community"
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class Footnote(Enum):
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CIVIC_DIESEL = CarFootnote(
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"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
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Column.FSR_STEERING)
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@dataclass
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class HondaBoschPlatformConfig(PlatformConfig):
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def init(self):
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self.flags |= HondaFlags.BOSCH
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@dataclass
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class HondaBoschCANFDPlatformConfig(HondaBoschPlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'honda_common_canfd_generated', Bus.radar: 'honda_common_canfd_generated'})
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def init(self):
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super().init()
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self.flags |= HondaFlags.BOSCH_CANFD
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@dataclass
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class HondaNidecPlatformConfig(PlatformConfig):
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def init(self):
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self.flags |= HondaFlags.NIDEC
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def radar_dbc_dict(pt_dict):
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return {Bus.pt: pt_dict, Bus.radar: 'acura_ilx_2016_nidec'}
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# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
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# which improves controls quality as it removes the steering column torsion from feedback.
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# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
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# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
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class CAR(Platforms):
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# Bosch Cars
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HONDA_NBOX_2G = HondaBoschPlatformConfig(
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[
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HondaCarDocs("Honda N-Box 2018", "All", min_steer_speed=5.),
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],
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CarSpecs(mass=890., wheelbase=2.520, steerRatio=18.64),
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{Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_radar_scan_generated'},
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)
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HONDA_ACCORD = HondaBoschPlatformConfig(
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[
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HondaCarDocs("Honda Accord 2018-22", "All", video="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
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HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
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HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
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],
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# steerRatio: 11.82 is spec end-to-end
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CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
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{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_radar_scan_generated'},
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flags=HondaFlags.ALLOW_MANUAL_TRANS,
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)
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HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
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[
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HondaCarDocs("Honda Accord 2023-25", "All"),
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HondaCarDocs("Honda Accord Hybrid 2023-25", "All"),
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],
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CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.0, centerToFrontRatio=0.39),
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)
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HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
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[
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HondaCarDocs("Honda Civic 2019-21", "All", video="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
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footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
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HondaCarDocs("Honda Civic Hatchback 2017-18", min_steer_speed=12. * CV.MPH_TO_MS),
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HondaCarDocs("Honda Civic Hatchback 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
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],
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CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
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{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_radar_scan_generated'},
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flags=HondaFlags.ALLOW_MANUAL_TRANS,
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)
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HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
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[], # don't show in docs
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HONDA_CIVIC_BOSCH.specs,
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{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_radar_scan_generated'},
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)
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HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
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[
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HondaCarDocs("Honda Civic 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
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HondaCarDocs("Honda Civic Hybrid 2025-26", "All"),
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HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
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HondaCarDocs("Honda Civic Hatchback Hybrid (Europe only) 2023", "All"),
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# TODO: Confirm 2024
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HondaCarDocs("Honda Civic Hatchback Hybrid 2025-26", "All"),
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],
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HONDA_CIVIC_BOSCH.specs,
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{Bus.pt: 'honda_bosch_radarless_generated'},
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flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.ALLOW_MANUAL_TRANS
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)
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HONDA_CRV_5G = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=15. * CV.MPH_TO_MS)],
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# steerRatio: 12.3 is spec end-to-end
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CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
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{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated',
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Bus.radar: 'honda_radar_scan_generated'},
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flags=HondaFlags.BOSCH_ALT_BRAKE,
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)
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HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
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[
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HondaCarDocs("Honda CR-V 2023-26", "All"),
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HondaCarDocs("Honda CR-V Hybrid 2023-26", "All"),
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],
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CarSpecs(mass=1703, wheelbase=2.7, steerRatio=16.2, centerToFrontRatio=0.42),
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)
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HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda CR-V Hybrid 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
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# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
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CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
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{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_radar_scan_generated'},
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)
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HONDA_HRV_3G = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda HR-V 2023-25", "All")],
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CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
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{Bus.pt: 'honda_bosch_radarless_generated'},
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flags=HondaFlags.BOSCH_RADARLESS,
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)
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HONDA_CITY_7G = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda City (Brazil only) 2023", "All")],
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CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.6, steerRatio=19.0, centerToFrontRatio=0.41, minSteerSpeed=23. * CV.KPH_TO_MS),
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{Bus.pt: 'honda_bosch_radarless_generated'},
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flags=HondaFlags.BOSCH_RADARLESS,
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)
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ACURA_RDX_3G = HondaBoschPlatformConfig(
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[HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
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CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
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{Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_radar_scan_generated'},
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flags=HondaFlags.BOSCH_ALT_BRAKE,
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)
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HONDA_INSIGHT = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
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CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
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{Bus.pt: 'honda_insight_ex_2019_can_generated', Bus.radar: 'honda_radar_scan_generated'},
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)
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HONDA_E = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
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CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
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{Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_radar_scan_generated'},
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)
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HONDA_PILOT_4G = HondaBoschCANFDPlatformConfig(
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[HondaCarDocs("Honda Pilot 2023-25", "All")],
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CarSpecs(mass=4660 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=17.5),
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)
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HONDA_PASSPORT_4G = HondaBoschCANFDPlatformConfig(
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[HondaCarDocs("Honda Passport 2026", "All")],
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CarSpecs(mass=4620 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=18.5),
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)
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# mid-model refresh
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ACURA_MDX_4G_MMR = HondaBoschCANFDPlatformConfig(
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[HondaCarDocs("Acura MDX 2025-26", "All except Type S")],
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CarSpecs(mass=4544 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.428, steerRatio=16.2),
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)
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HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
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[HondaCarDocs("Honda Odyssey 2021-26", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
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CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.41),
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{Bus.pt: 'acura_rdx_2020_can_generated'},
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flags=HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.BOSCH_ALT_RADAR,
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)
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ACURA_TLX_2G = HondaBoschPlatformConfig(
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[HondaCarDocs("Acura TLX 2021", "All")],
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CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.87, steerRatio=14.0, centerToFrontRatio=0.43),
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{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
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flags=HondaFlags.BOSCH_ALT_RADAR,
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)
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# mid-model refresh
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ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
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[HondaCarDocs("Acura TLX 2025", "All")],
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CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=13.7),
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)
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# Nidec Cars
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ACURA_ILX = HondaNidecPlatformConfig(
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[
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HondaCarDocs("Acura ILX 2016-18", "Technology Plus Package or AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
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HondaCarDocs("Acura ILX 2019", "All", min_steer_speed=25. * CV.MPH_TO_MS),
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],
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CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
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radar_dbc_dict('acura_ilx_2016_can_generated'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
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)
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HONDA_CRV = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
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CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
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radar_dbc_dict('honda_crv_touring_2016_can_generated'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
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)
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HONDA_CRV_EU = HondaNidecPlatformConfig(
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[], # Euro version of CRV Touring, don't show in docs
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HONDA_CRV.specs,
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radar_dbc_dict('honda_crv_touring_2016_can_generated'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
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)
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HONDA_FIT = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
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CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
|
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radar_dbc_dict('acura_ilx_2016_can_generated'),
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flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
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)
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HONDA_FREED = HondaNidecPlatformConfig(
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[HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
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CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
|
||||
radar_dbc_dict('acura_ilx_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_HRV = HondaNidecPlatformConfig(
|
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[HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
HONDA_HRV_3G.specs,
|
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radar_dbc_dict('acura_ilx_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_ODYSSEY = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Odyssey 2018-20")],
|
||||
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
|
||||
radar_dbc_dict('honda_odyssey_exl_2018_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL | HondaFlags.HAS_ALL_DOOR_STATES,
|
||||
)
|
||||
HONDA_ODYSSEY_TWN = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Odyssey (Taiwan) 2018-19")],
|
||||
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
|
||||
radar_dbc_dict('acura_rdx_2018_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
|
||||
)
|
||||
HONDA_PILOT = HondaNidecPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
HondaCarDocs("Honda Passport 2019-25", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
],
|
||||
HONDA_PILOT_4G.specs,
|
||||
radar_dbc_dict('acura_ilx_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
|
||||
)
|
||||
HONDA_RIDGELINE = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Ridgeline 2017-25", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
|
||||
radar_dbc_dict('acura_ilx_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
|
||||
)
|
||||
HONDA_CIVIC = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video="https://youtu.be/-IkImTe1NYE")],
|
||||
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
|
||||
radar_dbc_dict('honda_civic_touring_2016_can_generated'),
|
||||
flags=HondaFlags.HAS_ALL_DOOR_STATES
|
||||
)
|
||||
|
||||
# port extensions
|
||||
HONDA_CLARITY = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Clarity 2018-21", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=1834, wheelbase=2.75, centerToFrontRatio=0.4, steerRatio=16.5),
|
||||
radar_dbc_dict('honda_clarity_hybrid_2018_can_generated'),
|
||||
flags=HondaFlags.HAS_ALL_DOOR_STATES,
|
||||
)
|
||||
|
||||
|
||||
HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
|
||||
HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
|
||||
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)
|
||||
|
||||
# Bosch harness family whose radar broadcasts the decodable 16-slot object scan
|
||||
HONDA_RADAR_SCAN_CAPABLE = HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD - HONDA_BOSCH_ALT_RADAR
|
||||
# scan decode stays off per platform until a real route capture has been validated
|
||||
HONDA_RADAR_SCAN_VERIFIED = frozenset({CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G})
|
||||
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
|
||||
STEER_THRESHOLD = {
|
||||
# default is 1200, overrides go here
|
||||
CAR.ACURA_RDX: 400,
|
||||
CAR.HONDA_CRV_EU: 400,
|
||||
CAR.HONDA_ACCORD_11G: 600,
|
||||
CAR.HONDA_PILOT_4G: 600,
|
||||
CAR.HONDA_PASSPORT_4G: 600,
|
||||
CAR.ACURA_MDX_4G_MMR: 600,
|
||||
CAR.HONDA_CRV_6G: 600,
|
||||
CAR.HONDA_CITY_7G: 600,
|
||||
CAR.HONDA_NBOX_2G: 600,
|
||||
}
|
||||
|
||||
|
||||
HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xF112)
|
||||
HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(0xF112)
|
||||
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
# Currently used to fingerprint
|
||||
Request(
|
||||
[StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=1,
|
||||
),
|
||||
|
||||
# Data collection requests:
|
||||
# Log manufacturer-specific identifier for current ECUs
|
||||
Request(
|
||||
[HONDA_ALT_VERSION_REQUEST],
|
||||
[HONDA_ALT_VERSION_RESPONSE],
|
||||
bus=1,
|
||||
logging=True,
|
||||
),
|
||||
# Nidec PT bus
|
||||
Request(
|
||||
[StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
# Bosch PT bus
|
||||
Request(
|
||||
[StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=1,
|
||||
obd_multiplexing=False,
|
||||
),
|
||||
],
|
||||
# We lose these ECUs without the comma power on these cars.
|
||||
# Note that we still attempt to match with them when they are present
|
||||
# This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
|
||||
non_essential_ecus={
|
||||
Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E, *HONDA_BOSCH_ALT_RADAR, *HONDA_BOSCH_RADARLESS, *HONDA_BOSCH_CANFD],
|
||||
Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
|
||||
CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G, *HONDA_BOSCH_ALT_RADAR, *HONDA_BOSCH_RADARLESS, *HONDA_BOSCH_CANFD],
|
||||
},
|
||||
extra_ecus=[
|
||||
(Ecu.combinationMeter, 0x18da60f1, None),
|
||||
(Ecu.programmedFuelInjection, 0x18da10f1, None),
|
||||
# The only other ECU on PT bus accessible by camera on radarless Civic
|
||||
# This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
|
||||
# Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
|
||||
# TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
|
||||
# (Ecu.unknown, 0x18DAB3F1, None),
|
||||
],
|
||||
)
|
||||
Reference in New Issue
Block a user